Related papers: Optimal Any-Angle Pathfinding on a Sphere
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
We study shortest-path routing in large weighted, undirected graphs, where expanding search frontiers raise time and memory costs for exact solvers. We propose \emph{SPHERE}, a query-aware partitioning heuristic that adaptively splits the…
Spherical regression, in which both covariates and responses lie on the sphere, arises in many scientific applications and has attracted considerable methodological attention in recent years. Despite this progress, constructing flexible and…
Square grids are commonly used in robotics and game development as spatial models and well known in AI community heuristic search algorithms (such as A*, JPS, Theta* etc.) are widely used for path planning on grids. A lot of research is…
Many statistical and machine learning approaches rely on pairwise distances between data points. The choice of distance metric has a fundamental impact on performance of these procedures, raising questions about how to appropriately…
Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the predefined threshold, is considered in the paper. This problem…
The problem of Approximate Nearest Neighbor (ANN) search is fundamental in computer science and has benefited from significant progress in the past couple of decades. However, most work has been devoted to pointsets whereas complex shapes…
Numerical computation of shortest paths or geodesics on curved domains, as well as the associated geodesic distance, arises in a broad range of applications across digital geometry processing, scientific computing, computer graphics, and…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. The previous best…
Two averaging algorithms are considered which are intended for choosing an optimal plane and an optimal circle approximating a group of points in three-dimensional Euclidean space.
Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…
A fundamental problem in computational geometry is to compute an obstacle-avoiding Euclidean shortest path between two points in the plane. The case of this problem on polygonal obstacles is well studied. In this paper, we consider the…
We present an algorithm to find an {\it Euclidean Shortest Path} from a source vertex $s$ to a sink vertex $t$ in the presence of obstacles in $\Re^2$. Our algorithm takes $O(T+m(\lg{m})(\lg{n}))$ time and $O(n)$ space. Here, $O(T)$ is the…
In this article, a new model for 3D motion planning, applicable to aerial vehicles, is proposed to connect an initial and final configuration subject to pitch rate and yaw rate constraints. The motion planning problem for a…
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
We present a unified treatment of the abstract problem of finding the best approximation between a cone and spheres in the image of affine transformations. Prominent instances of this problem are phase retrieval and source localization. The…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. Previously,…
We study augmenting a plane Euclidean network with a segment, called a shortcut, to minimize the largest distance between any two points along the edges of the resulting network. Problems of this type have received considerable attention…
Spanners for metric spaces have been extensively studied, both in general metrics and in restricted classes, perhaps most notably in low-dimensional Euclidean spaces -- due to their numerous applications. Euclidean spanners can be viewed as…