Related papers: Some Random Paths with Angle Constraints
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
We present an analytical approach to study simple symmetric random walks (RWs) on a crossing geometry consisting of a plane square lattice crossed by $n_l$ number of lines that all meet each other at a single point (the origin) on the…
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…
Stroking a path is one of the two basic rendering operations in vector graphics standards (e.g., PostScript, PDF, SVG). We survey path stroking rendering results from real-world software implementations of path stroking for anecdotal…
The paper is concerned with elongating the shortest curvature-bounded path between two oriented points to an expected length. The elongation of curvature-bounded paths to an expected length is fundamentally important to plan missions for…
We are studying stationary random processes with conditional polynomial moments that allow a continuous path modification. Processes with continuous path modification, are important because they are relatively easy to simulate. One does not…
It is known that for the 2n-step symmetric simple random walk on Z, two events have the same probability if and only if their sets of paths have the same cardinality. In this article, we construct two kinds of bijections between sets of…
We solve a randomized version of the following open question: is there a strictly convex, bounded curve \gamma in the plane such that the number of rational points on \gamma, with denominator $n$, approaches infinity with $n$? Although this…
We study the computational complexity of routing multiple objects through a network in such a way that only few collisions occur: Given a graph $G$ with two distinct terminal vertices and two positive integers $p$ and $k$, the question is…
Consider a random multigraph with given vertex degrees constructed by the configuration model. We give a new proof of the fact that, asymptotically for a sequence of such multigraphs with the number of edges tending to infinity, the…
We analyze the properties of degree-preserving Markov chains based on elementary edge switchings in undirected and directed graphs. We give exact yet simple formulas for the mobility of a graph (the number of possible moves) in terms of its…
"Most" hypersurfaces in projective space are irreducible, and rather precise estimates are known for the probability that a random hypersurface over a finite field is reducible. This paper considers the parametrization of space curves by…
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many…
We introduce a variant of Farber's topological complexity, defined for smooth compact orientable Riemannian manifolds, which takes into account only motion planners with the lowest possible "average length" of the output paths. We prove…
A generic method for combinatorial constructions of intrinsic geometrical spaces is presented. It is based on the well known inverse sequences of finite graphs that determine (in the limit) topological spaces. If a pattern of the…
Given two points in the plane, a set of obstacles defined by closed curves, and an integer $k$, does there exist a path between the two designated points intersecting at most $k$ of the obstacles? This is a fundamental and well-studied…
Probabilistic graphical models play a crucial role in machine learning and have wide applications in various fields. One pivotal subset is undirected graphical models, also known as Markov random fields. In this work, we investigate the…
The aim of this note is to construct a probability measure on the space of trajectories in a continuous time Markov chain having a finite state diagram, or more generally which admits a global bound on its degree and rates. Our approach is…
We consider the problem of routing on a network in the presence of line segment constraints (i.e., obstacles that edges in our network are not allowed to cross). Let $P$ be a set of $n$ points in the plane and let $S$ be a set of…
The simplex method in Linear Programming motivates several problems of asymptotic convex geometry. We discuss some conjectures and known results in two related directions -- computing the size of projections of high dimensional polytopes…