Related papers: Space-Efficient, Fast and Exact Routing in Time-De…
Path planning plays a crucial role in various autonomy applications, and RRT* is one of the leading solutions in this field. In this paper, we propose the utilization of vertex-based networks to enhance the sampling process of RRT*, leading…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Due to the computational complexity of finding almost shortest simple paths, we propose that identifying a larger collection of (nonbacktracking) paths is more efficient than finding almost shortest simple paths on positively weighted…
We consider the problem of quickly computing shortest paths in weighted graphs given auxiliary data derived in an expensive preprocessing phase. By adding a fast weight-customization phase, we extend Contraction Hierarchies by Geisberger et…
We propose a simple subsampling scheme for fast randomized approximate computation of optimal transport distances. This scheme operates on a random subset of the full data and can use any exact algorithm as a black-box back-end, including…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
This paper investigates the problem of computing the shortest path between two states under resource constraints in environments with resource-replenishment regions. Namely, the length of the path is limited by a budget that can be restored…
The Resource Constrained Shortest Path Problem (RCSPP) is a fundamental combinatorial optimisation problem in which the goal is to find a least-cost path in a directed graph subject to one or more resource constraints. In this paper we…
This paper studies online shortest path routing over multi-hop networks. Link costs or delays are time-varying and modeled by independent and identically distributed random processes, whose parameters are initially unknown. The parameters,…
The proliferation of cloud data center applications and network function virtualization (NFV) boosts dynamic and QoS dependent traffic into the data centers network. Currently, lots of network routing protocols are requirement agnostic,…
We develop theoretical foundations and practical algorithms for vehicle routing with time-dependent travel times. We also provide new benchmark instances and experimental results. First, we study basic operations on piecewise linear arrival…
In this thesis, we design algorithms for several NP-hard problems in both worst and beyond worst case settings. In the first part of the thesis, we apply the traditional worst case methodology and design approximation algorithms for the Hub…
In the real-time decision-making and local planning process of autonomous vehicles in dynamic environments, the autonomous driving system may fail to find a reasonable policy or even gets trapped in some situation due to the complexity of…
In this letter, we propose a new routing strategy to improve the transportation efficiency on complex networks. Instead of using the routing strategy for shortest path, we give a generalized routing algorithm to find the so-called {\it…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. Its efficiency comes from minimizing the number of collision…
Autonomous high-speed navigation through large, complex environments requires real-time generation of agile trajectories that are dynamically feasible, collision-free, and satisfy state or actuator constraints. Modern trajectory planning…
This paper addresses the problem of finding shortest paths homotopic to a given disjoint set of paths that wind amongst point obstacles in the plane. We present a faster algorithm than previously known.
The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…