Related papers: Error Bounds for Discrete-Continuous Shortest Path…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
Through the development of efficient algorithms, data structures and preprocessing techniques, real-world shortest path problems in street networks are now very fast to solve. But in reality, the exact travel times along each arc in the…
Time-Dependent Constrained Path Optimization (TD-CPO) takes the following input: (i) time-dependent (TD) road network, (ii) source ($s$), (iii) destination ($d$), (iv) departure time ($t$) and, (v) budget ($\mathcal{B}$). In TD graph, each…
In this paper we consider discrete robot path planning problems on metric graphs. We propose a clustering method, Gamma-Clustering for the planning graph that significantly reduces the number of feasible solutions, yet retains a solution…
We present successive convexification, a real-time-capable solution method for nonconvex trajectory optimization, with continuous-time constraint satisfaction and guaranteed convergence, that only requires first-order information. The…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
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…
We formulate and solve a class of finite-time transport and mixing problems in the set-oriented framework. The aim is to obtain optimal discrete-time perturbations in nonlinear dynamical systems to transport a specified initial measure on…
Discrete-time robust optimal control problems generally take a min-max structure over continuous variable spaces, which can be difficult to solve in practice. In this paper, we extend the class of such problems that can be solved through a…
Hybrid networks, i.e., networks that leverage different means of communication, become ever more widespread. To allow theoretical study of such networks, [Augustine et al., SODA'20] introduced the $\mathsf{HYBRID}$ model, which is based on…
This paper considers the problem of distributed optimization over time-varying graphs. For the case of undirected graphs, we introduce a distributed algorithm, referred to as DIGing, based on a combination of a distributed inexact gradient…
In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…
This paper presents an integrated approach for efficient path planning and energy management in hybrid unmanned aerial vehicles (HUAVs) equipped with dual fuel-electric propulsion systems. These HUAVs operate in environments that include…
We consider the problem of routing on a network in the presence of line segment constraints (i.e., obstacles that edges in our network are not allowed to cross). Let $P$ be a set of $n$ points in the plane and let $S$ be a set of…
This paper analyzes the use of variable speed limits to optimize travel time reliability for commuters. The investigation focuses on a traffic corridor with a bottleneck subject to the capacity drop phenomenon. The optimization criterion is…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
The Single-Source Shortest Path (SSSP) problem is well-known for the challenges in developing fast, practical, and work-efficient parallel algorithms. This work introduces a novel shortest path search method. It allows paths with different…
We consider the problem of computing shortest paths in weighted unit-disk graphs in constant dimension $d$. Although the single-source and all-pairs variants of this problem are well-studied in the plane case, no non-trivial exact distance…
We study the complexity of fundamental distributed graph problems in the recently popular setting where information about the input graph is available to the nodes before the start of the computation. We focus on the most common such…
We present a discretization of the dynamic optimal transport problem for which we can obtain the convergence rate for the value of the transport cost to its continuous value when the temporal and spatial stepsize vanish. This convergence…