Related papers: Enhanced Methods for the Weight Constrained Shorte…
Paths generated by A* and other graph-search-based planners are widely used in the robotic field. Due to the restricted node-expansion directions, the resulting paths are usually not the shortest. Besides, unnecessary heading changes, or…
The bi-objective shortest-path (BOSP) problem seeks to find paths between start and target vertices of a graph while optimizing two conflicting objective functions. We consider the BOSP problem in the presence of correlated objectives. Such…
The shortest paths problem is a fundamental challenge in graph theory, with a broad range of potential applications. The algorithms based on matrix multiplication exhibits excellent parallelism and scalability, but is constrained by high…
The Multi-Objective Shortest Path Problem (MO-SPP), typically posed on a graph, determines a set of paths from a start vertex to a destination vertex while optimizing multiple objectives. In general, there does not exist a single solution…
This paper considers the application of Model Predictive Control (MPC) to a weighted coverage path planning (WCPP) problem. The problem appears in a wide range of practical applications, including search and rescue (SAR) missions. The basic…
Efficient solution of the single source shortest path (SSSP) problem on road networks is an important requirement for numerous real-world applications. This paper introduces an algorithm for the SSSP problem using compression method. Owning…
In the Mixed Chinese Postman Problem (MCPP), given a weighted mixed graph $G$ ($G$ may have both edges and arcs), our aim is to find a minimum weight closed walk traversing each edge and arc at least once. The MCPP parameterized by the…
Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…
In this article, we consider a multi-agent path planning problem in a partially impeded environment. The impeded environment is represented by a graph with select road segments (edges) in disrepair impeding vehicular movement in the road…
The Multi-objective Shortest Path (MOSP) problem is a classic network optimization problem that aims to find all Pareto-optimal paths between two points in a graph with multiple edge costs. Recent studies on multi-objective search with A*…
We study a resource-constrained variant of the Random Disambiguation Path (RDP) problem, a generalization of the Stochastic Obstacle Scene (SOS) problem, in which a navigating agent must reach a target in a spatial environment populated…
This paper investigates the complexity of finding secluded paths in graphs. We focus on the \textsc{Short Secluded Path} problem and a natural new variant we introduce, \textsc{Shortest Secluded Path}. Formally, given an undirected graph…
Graphs have been commonly used to model many applications. A natural problem which abstracts applications such as itinerary planning, playlist recommendation, and flow analysis in information networks is that of finding the heaviest path(s)…
A weighted constraint satisfaction problem (WCSP) is a constraint satisfaction problem in which preferences among solutions can be expressed. Bucket elimination is a complete technique commonly used to solve this kind of constraint…
The shortest-path distance is a fundamental concept in graph analytics and has been extensively studied in the literature. In many real-world applications, quality constraints are naturally associated with edges in the graphs and finding…
We present several modifications to the previously proposed MSPP algorithm that can speed-up its execution considerably. The MSPP algorithm leverages a multiscale representation of the environment in $n$ dimensions. The information of the…
The constrained path optimization (CPO) problem takes the following input: (a) a road network represented as a directed graph, where each edge is associated with a "cost" and a "score" value; (b) a source-destination pair and; (c) a budget…
In this paper, we consider a fundamental and hard combinatorial problem: the Resource Constrained Shortest Path Problem (RCSPP). We describe the implementation of a flexible, open-source library for the solution of the RCSPP, called…
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
Link weights are the principal parameters of shortest path routing protocols, the most commonly used protocols for IP networks. The problem of optimally setting link weights for unique shortest path routing is addressed. Due to the…