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This paper presents an approximation algorithm for finding a shortest path between two points $s$ and $t$ in a weighted planar subdivision $\PS$. Each face $f$ of $\PS$ is associated with a weight $w_f$, and the cost of travel along a line…
Finding shortest paths in a given network (e.g., a computer network or a road network) is a well-studied task with many applications. We consider this task under the presence of an adversary, who can manipulate the network by perturbing its…
This paper explores minimum sensing navigation of robots in environments cluttered with obstacles. The general objective is to find a path plan to a goal region that requires minimal sensing effort. In [1], the information-geometric RRT*…
In this paper we address several constrained transportation optimization problems (e.g. vehicle routing, shortest Hamiltonian path), for which we present novel algorithmic solutions and extensions, considering several optimization…
Many combinatorial optimization problems can be formulated as the search for a subgraph that satisfies certain properties and minimizes the total weight. We assume here that the vertices correspond to points in a metric space and can take…
Urban rail transit is a fundamental component of public transportation, however, commonly station-based path search algorithms often overlook the impact of transfer times on search results, leading to decreased accuracy. To solve this…
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…
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.
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
Optimal power flow (OPF) is a critical optimization problem for power systems to operate at points where cost or other operational objectives are optimized. Due to the non-convexity of the set of feasible OPF operating points, it is…
For many important network types (e.g., sensor networks in complex harsh environments and social networks) physical coordinate systems (e.g., Cartesian), and physical distances (e.g., Euclidean), are either difficult to discern or…
In most of the shortest path problems like vehicle routing problems and network routing problems, we only need an efficient path between two points source and destination, and it is not necessary to calculate the shortest path from source…
Cyclic structures are fundamental topological features in graphs, playing critical roles in network robustness, information flow, community structure, and various dynamic processes. Algorithmic tools that can efficiently probe and analyze…
We present the first polynomial time approximation algorithm for computing shortest paths in weighted three-dimensional domains. Given a polyhedral domain $\D$, consisting of $n$ tetrahedra with positive weights, and a real number…
The shortest path problem in graphs is fundamental to AI. Nearly all variants of the problem and relevant algorithms that solve them ignore edge-weight computation time and its common relation to weight uncertainty. This implies that taking…
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…
We present a comparative study of the application of a recently introduced heuristic algorithm to the optimization of transport on three major types of complex networks. The algorithm balances network traffic iteratively by minimizing the…
The Minimum Eccentricity Shortest Path Problem consists in finding a shortest path with minimum eccentricity in a given undirected graph. The problem is known to be NP-complete and W[2]-hard with respect to the desired eccentricity. We…
The shortest path problem is among the most fundamental combinatorial optimization problems to answer reachability queries. It is hard to deter-mine which vertices or edges are visited during shortest path traversals. In this paper, we…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…