Related papers: Towards Time-Optimal Any-Angle Path Planning With …
Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…
Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments.In this paper, we propose the NNPP model for…
We study the design of fixed-parameter algorithms for problems already known to be solvable in polynomial time. The main motivation is to get more efficient algorithms for problems with unattractive polynomial running times. Here, we focus…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Pathfinding in Euclidean space is a common problem faced in robotics and computer games. For long-distance navigation on the surface of the earth or in outer space however, approximating the geometry as Euclidean can be insufficient for…
We present a novel algorithm for dynamic routing with dedicated path protection which, as the presented simulation results suggest, can be efficient and exact. We present the algorithm in the setting of optical networks, but it should be…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not…
Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
This paper presents an optimal $\Theta(n \log n)$ algorithm for determining time-minimal rectilinear paths among $n$ transient rectilinear obstacles. An obstacle is transient if it exists in the scene only for a specific time interval,…
Moving an autonomous agent through an unknown environment is one of the crucial problems for robotics and network analysis. Therefore, it received a lot of attention in the last decades and was analyzed in many different settings. The graph…
Fully dynamic graph algorithms that achieve polylogarithmic or better time per operation use either a hierarchical graph decomposition or random-rank based approach. There are so far two graph properties for which efficient algorithms for…
Consider an agent exploring an unknown graph in search of some goal state. As it walks around the graph, it learns the nodes and their neighbors. The agent only knows where the goal state is when it reaches it. How do we reach this goal…
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…
Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this paper proposes hybrid tracker…
Efficiently computing fast paths in large scale dynamic road networks (where dynamic traffic information is known over a part of the network) is a practical problem faced by several traffic information service providers who wish to offer a…
Given $x, y$ on an unweighted undirected graph $G$, the goal of the pathfinding problem is to find an $x$-$y$ path. In this work, we first construct a graph $G$ based on welded trees and define a pathfinding problem in the adjacency list…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…
During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…