Related papers: ERA*: Enhanced Relaxed A* algorithm for Solving th…
We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the…
We introduce a new numerical method to approximate the solutions of a class of stationary Hamilton-Jacobi (HJ) partial differential equations arising from minimum time optimal control problems. We rely on nested grid approximations, and…
A long series of recent results and breakthroughs have led to faster and better distributed approximation algorithms for single source shortest paths (SSSP) and related problems in the CONGEST model. The runtime of all these algorithms,…
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…
This paper investigates the shared-memory Graph Transposition (GT) problem, a fundamental graph algorithm that is widely used in graph analytics and scientific computing. Previous GT algorithms have significant memory requirements that are…
We study the problem of quickly computing point-to-point shortest paths in massive road networks with traffic predictions. Incorporating traffic predictions into routing allows, for example, to avoid commuter traffic congestions. Existing…
We consider an optimization problem posed by an actual newspaper company, which consists of computing a minimum length route for a delivery truck, such that the driver only stops at street crossings, each time delivering copies to all…
Path planning is a fundamental problem in road networks, with the goal of finding a path that optimizes objectives such as shortest distance or minimal travel time. Existing methods typically use graph indexing to ensure the efficiency of…
Graph Edit Distance (GED) is a popular similarity measurement for pairwise graphs and it also refers to the recovery of the edit path from the source graph to the target graph. Traditional A* algorithm suffers scalability issues due to its…
This paper develops a novel Continuous-time Accelerated Proximal Point Algorithm (CAPPA) for $\ell_1$-minimization problems with provable fixed-time convergence guarantees. The problem of $\ell_1$-minimization appears in several contexts,…
Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…
This paper introduces a novel approach to urban pathfinding by transforming traditional heuristic-based algorithms into deep learning models that leverage real-time contextual data, such as traffic and weather conditions. We propose two…
We study the classic subgraph enumeration problem under distributed settings. Existing solutions either suffer from severe memory crisis or rely on large indexes, which makes them impractical for very large graphs. Most of them follow a…
In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a…
New algorithms for embedding graphs have reduced the asymptotic complexity of finding low-dimensional representations. One-Hot Graph Encoder Embedding (GEE) uses a single, linear pass over edges and produces an embedding that converges…
In cooperative pathfinding problems, no-conflicts paths that bring several agents from their start location to their destination need to be planned. This problem can be efficiently solved by Multi-agent RRT*(MA-RRT*) algorithm, which is…
Given two locations $s$ and $t$ in a road network, a distance query returns the minimum network distance from $s$ to $t$, while a shortest path query computes the actual route that achieves the minimum distance. These two types of queries…
Footstep planning involves a challenging combinatorial search. Traditional A* approaches require discretising reachability constraints, while Mixed-Integer Programming (MIP) supports continuous formulations but quickly becomes intractable,…
In a 1989 paper titled "shortest paths without a map", Papadimitriou and Yannakakis introduced an online model of searching in a weighted layered graph for a target node, while attempting to minimize the total length of the path traversed…
In this paper, we propose a new algorithm to speed-up the convergence of accelerated proximal gradient (APG) methods. In order to minimize a convex function $f(\mathbf{x})$, our algorithm introduces a simple line search step after each…