Related papers: ERA*: Enhanced Relaxed A* algorithm for Solving th…
Motion-planning problems, such as manipulation in cluttered environments, often require a collision-free shortest path to be computed quickly given a roadmap graph. Typically, the computational cost of evaluating whether an edge of the…
Finding the shortest path between two points in a graph is a fundamental problem that has been well-studied over the past several decades. Shortest path algorithms are commonly applied to modern navigation systems, so our study aims to…
The problem of finding the shortest path in a graph G(V, E) has been widely studied. However, in many applications it is necessary to compute an arbitrary number of them, k. Even though the problem has raised a lot of interest from…
In a series of papers, Avraham, Filtser, Kaplan, Katz, and Sharir (SoCG'14), Kaplan, Katz, Saban, and Sharir (ESA'23), and Katz, Saban, and Sharir (ESA'24) studied a class of geometric optimization problems -- including reverse shortest…
Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…
In this work, we introduce a new graph search algorithm, lazy edged based A* (LEA*), for robot motion planning. By using an edge queue and exploiting the idea of lazy search, LEA* is optimally vertex efficient similar to A*, and has…
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…
We present a novel algorithm that fuses the existing convex-programming based approach with heuristic information to find optimality guarantees and near-optimal paths for the Shortest Path Problem in the Graph of Convex Sets (SPP-GCS). Our…
In the age of real-time online traffic information and GPS-enabled devices, fastest-path computations between two points in a road network modeled as a directed graph, where each directed edge is weighted by a "travel time" value, are…
In this article, we study the Adjacent Quadratic Shortest Path Problem (AQSPP), which consists in finding the shortest path on a directed graph when its total weight component also includes the impact of consecutive arcs. We provide a…
We present the generic Dijkstra shortest path algorithm: an efficient algorithm for finding a shortest path in an optical network, both in a wavelength-division multiplexed network, and an elastic optical network (EON). The proposed…
We present a new preprocessing algorithm for embedding the nodes of a given edge-weighted undirected graph into a Euclidean space. The Euclidean distance between any two nodes in this space approximates the length of the shortest path…
Both geometric and semantic information of the search space is imperative for a good plan. We encode those properties in a weighted colored graph (geometric information in terms of edge weight and semantic information in terms of edge and…
Carpooling has gained considerable importance in developed as well as in developing countries as an effective solution for controlling vehicular pollution, both sound and air. As carpooling decreases the number of vehicles used by…
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…
Global Route-Planning Algorithms (GRPA) are required to compute paths between several points located on Earth's surface. A geodesic algorithm is employed as an auxiliary tool, increasing the precision of distance calculations. This work…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
We consider the problem of computing shortest paths in hybrid networks, in which nodes can make use of different communication modes. For example, mobile phones may use ad-hoc connections via Bluetooth or Wi-Fi in addition to the cellular…
We study exact, efficient and practical algorithms for route planning in large road networks. Routing applications often require integrating the current traffic situation, planning ahead with traffic predictions for the future, respecting…
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…