Related papers: Optimal Geodesic Curvature Constrained Dubins' Pat…
Solving for the minimum time bounded acceleration trajectory with prescribed position and velocity at endpoints is a highly nonlinear problem. The methods and bounds developed in this paper distinguish when there is a continuous…
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…
In this paper we compare the different phenomena that occur when intersecting geometric objects with random geodesics on the unit sphere and inside convex bodies. On the high dimensional sphere we see that with probability bounded away from…
The combinatorial diameter $\operatorname{diam}(P)$ of a polytope $P$ is the maximum shortest path distance between any pair of vertices. In this paper, we provide upper and lower bounds on the combinatorial diameter of a random "spherical"…
In this paper, we present a new record for the densest geodesic congruent ball packing configurations in $\mathbf{H}^2\!\times\!\mathbf{R}$ geometry, generated by screw motion groups. These groups are derived from the direct product of…
In the racetrack acceleration model, proposed by Martin Gardner in 1973, each step consists of changing the position of the vehicle by a vector in $\mathbb{Z}^2$, with the constraints that two consecutive vectors differ by at most one unit…
This paper presents a rapid (real time) solution to the minimum-time path planning problem for Dubins vehicles under environmental currents (wind or ocean currents). Real-time solutions are essential in time-critical situations (such as…
We initiate the study of diameter computation in geometric intersection graphs from the fine-grained complexity perspective. A geometric intersection graph is a graph whose vertices correspond to some shapes in $d$-dimensional Euclidean…
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…
This paper reports about the development of two provably correct approximate algorithms which calculate the Euclidean shortest path (ESP) within a given cube-curve with arbitrary accuracy, defined by $\epsilon >0$, and in time complexity…
Let $V$ be a set of $n$ points in the plane. The unit-disk graph $G = (V, E)$ has vertex set $V$ and an edge $e_{uv} \in E$ between vertices $u, v \in V$ if the Euclidean distance between $u$ and $v$ is at most 1. The weight of each edge…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Aerodynamic shape optimization has many industrial applications. Existing methods, however, are so computationally demanding that typical engineering practices are to either simply try a limited number of hand-designed shapes or restrict…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
In the geometry of quantum evolutions, a geodesic path is viewed as a path of minimal statistical length connecting two pure quantum states along which the maximal number of statistically distinguishable states is minimum. In this paper, we…
The minimal geodesic models based on the Eikonal equations are capable of finding suitable solutions in various image segmentation scenarios. Existing geodesic-based segmentation approaches usually exploit image features in conjunction with…
In first-passage percolation, one places nonnegative i.i.d. random variables (T (e)) on the edges of Z d. A geodesic is an optimal path for the passage times T (e). Consider a local property of the time environment. We call it a pattern. We…
The diameter of a directed graph is the maximum distance between any pair of vertices. We study a problem that generalizes \textsc{Oriented Diameter}: For a given directed graph and a positive integer $d$, what is the minimum number of arc…
Interval routing is a space efficient method to realize a distributed routing function. In this paper we show that every circular-arc graph allows a shortest path strict 2-interval routing scheme, i.e., by introducing a global order on the…
Given a set $\mathcal{P}$ of $h$ pairwise disjoint simple polygonal obstacles in $\mathbb{R}^2$ defined with $n$ vertices, we compute a sketch $\Omega$ of $\mathcal{P}$ whose size is independent of $n$, depending only on $h$ and the input…