Related papers: An Efficient Method for Extracting the Shortest Pa…
We study the 2-Disjoint Shortest Paths (2-DSP) problem: given a directed weighted graph and two terminal pairs $(s_1,t_1)$ and $(s_2,t_2)$, decide whether there exist vertex-disjoint shortest paths between each pair. Building on recent…
Many robot arms can accomplish one task using many different joint configurations. Often only one of these configurations is used as a goal by the path planner. Ideally the robot's path planner would be able to use the extra configurations…
In this study, we propose an algorithmic framework for solving a class of optimal control problems. This class is associated with the minimum-time interception of moving target problems, where a plant with a given state equation must…
The composition problem for shortest paths asks the following: given shortest paths on weighted graphs M and N which share a common boundary, find the shortest paths on their union. This problem is a crucial step in any algorithm which uses…
The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…
Markov-Dubins path is the shortest planar curve joining two points with prescribed tangents, with a specified bound on its curvature. Its structure, as proved by Dubins in 1957 nearly 70 years after Markov posed the problem of finding it,…
We consider robust shortest path problems, where the aim is to find a path that optimizes the worst-case performance over an uncertainty set containing all relevant scenarios for arc costs. The usual approach for such problems is to assume…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
The minimum distance of a code is an important concept in information theory. Hence, computing the minimum distance of a code with a minimum computational cost is a crucial process to many problems in this area. In this paper, we present…
We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a…
In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. Its efficiency comes from minimizing the number of collision…
In this paper, we study the computation of shortest paths within the \emph{geometric amoebot model}, a commonly used model for programmable matter. Shortest paths are essential for various tasks and therefore have been heavily investigated…
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…
The detection of curved lanes is still challenging for autonomous driving systems. Although current cutting-edge approaches have performed well in real applications, most of them are based on strict model assumptions. Similar to other…
We introduce a simple yet effective sampling-based planner that is tailored for bottleneck pathfinding: Given an implicitly-defined cost map $\mathcal{M}:\mathbb{R}^d\rightarrow \mathbb{R}$, which assigns to every point in space a real…
Algebraic data structures are the main subroutine for maintaining distances in fully dynamic graphs in subquadratic time. However, these dynamic algebraic algorithms generally cannot maintain the shortest paths, especially against adaptive…
We study the problem of path planning with soft homology constraints on a surface topologically equivalent to a disk with punctures. Specifically, we propose an algorithm, named $\Hstar$, for the efficient computation of a path homologous…
We propose a new exact method for shortest-path distance queries on large-scale networks. Our method precomputes distance labels for vertices by performing a breadth-first search from every vertex. Seemingly too obvious and too inefficient…
Route planning is important in transportation. Existing works focus on finding the shortest path solution or using metrics such as safety and energy consumption to determine the planning. It is noted that most of these studies rely on prior…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…