Related papers: Probabilistic Analysis of RRT Trees
Classical sampling-based motion planners like the RRTs suffer from inefficiencies, particularly in cluttered or high-dimensional spaces, due to their reliance on undirected, random sampling. This paper introduces the Episodic RRT, a novel…
This paper extends the study of fringe trees in random plane trees with a given degree statistic. While previous work established the asymptotic normality of the count of fringe trees isomorphic to a fixed tree, we investigate the case…
In the longest plane spanning tree problem, we are given a finite planar point set $\mathcal{P}$, and our task is to find a plane (i.e., noncrossing) spanning tree for $\mathcal{P}$ with maximum total Euclidean edge length. Despite more…
Consider a random walk on a tree $G=(V,E)$. For $v,w \in V$, let the hitting time $H(v,w)$ denote the expected number of steps required for the random walk started at $v$ to reach $w$, and let $\pi_v = \mathrm{deg}(v)/2|E|$ denote the…
We study simple random walk on the class of random planar maps which can be encoded by a two-dimensional random walk with i.i.d. increments or a two-dimensional Brownian motion via a "mating-of-trees" type bijection. This class includes the…
We propose a generalized model for uniform recursive tree (URT) by introducing an imperfect growth process, which may generate disconnected components (clusters). The model undergoes an interesting phase transition from a singly connected…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be very efficient in solving high dimensional problems. Even though…
In the critical beta-splitting model of a random $n$-leaf binary tree, leaf-sets are recursively split into subsets, and a set of $m$ leaves is split into subsets containing $i$ and $m-i$ leaves with probabilities proportional to…
In this paper, we study the online nearest neighbor random tree in dimension $d\in \mathbb N$ (called $d$-NN tree for short) defined as follows. We fix the torus $\mathbb T^d_n$ of dimension $d$ and area $n$ and equip it with the metric…
In the unsplittable capacitated vehicle routing problem (UCVRP) on trees, we are given a rooted tree with edge weights and a subset of vertices of the tree called terminals. Each terminal is associated with a positive demand between 0 and…
We present an algorithm that, with high probability, generates a random spanning tree from an edge-weighted undirected graph in $\tilde{O}(n^{4/3}m^{1/2}+n^{2})$ time (The $\tilde{O}(\cdot)$ notation hides $\operatorname{polylog}(n)$…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
We consider the minimum spanning tree problem on a weighted complete bipartite graph $K_{n_R, n_B}$ whose $n=n_R+n_B$ vertices are random, i.i.d. uniformly distributed points in the unit cube in $d$ dimensions and edge weights are the…
A weighted recursive tree is an evolving tree in which vertices are assigned random vertex-weights and new vertices connect to a predecessor with a probability proportional to its weight. Here, we study the maximum degree and near-maximum…
Sparse residual tree (SRT) is an adaptive exploration method for multivariate scattered data approximation. It leads to sparse and stable approximations in areas where the data is sufficient or redundant, and points out the possible local…
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…
Motivated by the study of random temporal networks, we introduce a class of random trees that we coin \emph{uniform temporal trees}. A uniform temporal tree is obtained by assigning independent uniform $[0,1]$ labels to the edges of a…
In the \emph{$k$-Diameter-Optimally Augmenting Tree Problem} we are given a tree $T$ of $n$ vertices as input. The tree is embedded in an unknown \emph{metric} space and we have unlimited access to an oracle that, given two distinct…
We consider a model of random tree growth, where at each time unit a new vertex is added and attached to an already existing vertex chosen at random. The probability with which a vertex with degree $k$ is chosen is proportional to $w(k)$,…
The Euclidean Steiner tree problem asks to find a min-cost metric graph that connects a given set of \emph{terminal} points $X$ in $\mathbb{R}^d$, possibly using points not in $X$ which are called Steiner points. Even though near-linear…