Related papers: A Generalized A* Algorithm for Finding Globally Op…
A common way to accelerate shortest path algorithms on graphs is the use of a bidirectional search, which simultaneously explores the graph from the start and the destination. It has been observed recently that this strategy performs…
We propose an optimal algorithm for solving the longest path problem in undirected weighted graphs. By using graph partitioning and dynamic programming, we obtain an algorithm that is significantly faster than other state-of-the-art…
The dual of a planar graph $G$ is a planar graph $G^*$ that has a vertex for each face of $G$ and an edge for each pair of adjacent faces of $G$. The profound relationship between a planar graph and its dual has been the algorithmic basis…
The on-line shortest path problem is considered under various models of partial monitoring. Given a weighted directed acyclic graph whose edge weights can change in an arbitrary (adversarial) way, a decision maker has to choose in each…
We introduce a new heuristic for the A* algorithm that references a data structure significantly smaller than that of ALT. We characterize the behavior of this new heuristic based on a dual landmark configuration that leverages…
This paper studies sufficient conditions to obtain efficient distributed algorithms coloring graphs optimally (i.e.\ with the minimum number of colors) in the LOCAL model of computation. Most of the work on distributed vertex coloring so…
The Minimum Coloring Cut Problem is defined as follows: given a connected graph G with colored edges, find an edge cut E' of G (a minimal set of edges whose removal renders the graph disconnected) such that the number of colors used by the…
We present linear time {\it in-place} algorithms for several basic and fundamental graph problems including the well-known graph search methods (like depth-first search, breadth-first search, maximum cardinality search), connectivity…
A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…
In this paper, we propose a 3D path planning method that integrates the A* algorithm with the octree structure. Unmanned Ground Vehicles (UGVs) and legged robots have been extensively studied, enabling locomotion across a variety of…
In unstructured environments the best path is not always the shortest, but needs to consider various objectives like energy efficiency, risk of failure or scientific outcome. This paper proposes a global planner, based on the A* algorithm,…
All Colors Shortest Path problem defined on an undirected graph aims at finding a shortest, possibly non-simple, path where every color occurs at least once, assuming that each vertex in the graph is associated with a color known in…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
We study distributed algorithms that find a maximal matching in an anonymous, edge-coloured graph. If the edges are properly coloured with $k$ colours, there is a trivial greedy algorithm that finds a maximal matching in $k-1$ synchronous…
To address the rising demand for strong packet delivery guarantees in networking, we study a novel way to perform graph resource allocation. We first introduce allocation graphs, in which nodes can independently set local resource limits…
Bayesian optimization (BO) is a powerful framework for optimizing expensive black-box objectives, yet extending it to graph-structured domains remains challenging due to the discrete and combinatorial nature of graphs. Existing approaches…
One model of message delivery in a computer network is based on labelling each edge by a subset of a (reasonably small) universal set, and then encoding a path as the union of the labels of its edges. Earlier work suggested using random…
Safety is a critical concern for urban flights of autonomous Unmanned Aerial Vehicles. In populated environments, risk should be accounted for to produce an effective and safe path, known as risk-aware path planning. Risk-aware path…
We present a new preprocessing algorithm for embedding the nodes of a given edge-weighted undirected graph into a Euclidean space. The Euclidean distance between any two nodes in this space approximates the length of the shortest path…
Graph theoretical problems based on shortest paths are at the core of research due to their theoretical importance and applicability. This paper deals with the geodetic number which is a global measure for simple connected graphs and it…