Related papers: Optimal Geodesic Curvature Constrained Dubins' Pat…
Motivated by longstanding conjectures regarding decompositions of graphs into paths and cycles, we prove the following optimal decomposition results for random graphs. Let $0<p<1$ be constant and let $G\sim G_{n,p}$. Let $odd(G)$ be the…
For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…
Let S be a complete surface of constant curvature K = + 1 or -1, i.e. the sphere S^2 or the Lobachevskij plane L^2, and D a bounded convex subset of S. If S = S^2, assume also diameter (D) < pi/2. It is proved that the length of any…
A set of segments in the plane may form a Euclidean TSP tour or a matching, among others. Optimal TSP tours as well as minimum weight perfect matchings have no crossing segments, but several heuristics and approximation algorithms may…
The diameter of an undirected or a directed graph is defined to be the maximum shortest path distance over all pairs of vertices in the graph. Given an undirected graph $G$, we examine the problem of assigning directions to each edge of $G$…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
The problem of finding multiple simple shortest paths in a weighted directed graph $G=(V,E)$ has many applications, and is considerably more difficult than the corresponding problem when cycles are allowed in the paths. Even for a single…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…
In this work we consider temporal graphs, i.e. graphs, each edge of which is assigned a set of discrete time-labels drawn from a set of integers. The labels of an edge indicate the discrete moments in time at which the edge is available. We…
A new path equation in absolute parallelism (AP) geometry is derived. The equation is a generalization of three path equations derived in a previous work. It can be considered as a geodesic equation modified by a torsion term, whose…
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are computationally expensive. A large dense roadmap (graph) can…
In this paper the space of images is considered as a Riemannian manifold using the metamorphosis approach, where the underlying Riemannian metric simultaneously measures the cost of image transport and intensity variation. A robust and…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
We investigate variants of Goddard's problems for nonvertical trajectories. The control is the thrust force, and the objective is to maximize a certain final cost, typically, the final mass. In this report, performing an analysis based on…
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,…
We study a dynamic optimal transport type problem on a domain that consists of two parts: a compact set $\Omega \subset \mathbb{R}^d$ (bulk) and a non-intersecting and sufficiently regular curve $\Gamma \subset \Omega$. On each of them, a…
Given a set P of n points in the plane, the unit-disk graph G_{r}(P) with respect to a parameter r is an undirected graph whose vertex set is P such that an edge connects two points p, q \in P if the Euclidean distance between p and q is at…
In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the…
We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches…