Related papers: An Efficient Method for Extracting the Shortest Pa…
The advancement of mobile technologies and the proliferation of map-based applications have enabled a user to access a wide variety of services that range from information queries to navigation systems. Due to the popularity of map-based…
Existing methods for avoiding dynamic engagement zones (EZs) and minimizing risk leverage the calculus of variations to obtain optimal paths. While such methods are deterministic, they scale poorly as the number of engagement zones…
In several important routing contexts it is required to identify a set of routes, each of which optimizes a different criterion. For instance, in the context of vehicle routing, one route would minimize the total distance traveled, while…
The efficient computation of shortest paths in complex networks is essential to face new challenges related to critical infrastructures such as a near real-time monitoring and control and the management of big size systems. In particular,…
This paper addresses the problem of finding shortest paths homotopic to a given disjoint set of paths that wind amongst point obstacles in the plane. We present a faster algorithm than previously known.
Path planning for multiple unmanned aerial vehicles is a difficult task, and even more for a fleet of fixed-wing aircraft. One specific case is the transition to, or between, formation flight patterns, which requires synchronous arrivals…
Path planners based on basic rapidly-exploring random trees (RRTs) are quick and efficient, and thus favourable for real-time robot path planning, but are almost-surely suboptimal. In contrast, the optimal RRT (RRT*) converges to the…
As large graph datasets become increasingly common across many fields, sampling is often needed to reduce the graphs into manageable sizes. This procedure raises critical questions about representativeness as no sample can capture the…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
This paper reports about the development of two provably correct approximate algorithms which calculate the Euclidean shortest path (ESP) within a given cube-curve with arbitrary accuracy, defined by $\epsilon >0$, and in time complexity…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
A shortest-path algorithm finds a path containing the minimal cost between two vertices in a graph. A plethora of shortest-path algorithms is studied in the literature that span across multiple disciplines. This paper presents a survey of…
The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals.…
Shortest path algorithms have played a key role in the past century, paving the way for modern day GPS systems to find optimal routes along static systems in fractions of a second. One application of these algorithms includes optimizing the…
Computing the shortest path between two given locations in a road network is an important problem that finds applications in various map services and commercial navigation products. The state-of-the-art solutions for the problem can be…
This paper introduces an exact algorithm for the construction of a shortest curvature-constrained network interconnecting a given set of directed points in the plane and an iterative method for doing so in 3D space. Such a network will be…
We give an algorithm that takes a directed graph $G$ undergoing $m$ edge insertions with lengths in $[1, W]$, and maintains $(1+\epsilon)$-approximate shortest path distances from a fixed source $s$ to all other vertices. The algorithm is…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues…