Related papers: An Efficient Method for Extracting the Shortest Pa…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
This paper studies path synthesis for nonholonomic mobile robots moving in two-dimensional space. We first address the problem of interpolating paths expressed as sequences of straight line segments, such as those produced by some planning…
This paper proposes earliest and latest path algorithms based on binary weight allocation, assigning weights of 2(i-1) and 2(m-i) to the i-th arc in a network. While traditional shortest path algorithms optimize only distance, our approach…
The growing use of probe vehicles generates a huge number of GNSS data. Limited by the satellite positioning technology, further improving the accuracy of map-matching is challenging work, especially for low-frequency trajectories. When…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
We study augmenting a plane Euclidean network with a segment, called a shortcut, to minimize the largest distance between any two points along the edges of the resulting network. Problems of this type have received considerable attention…
Understanding the criteria that bicyclists apply when they choose their routes is crucial for planning new bicycle paths or recommending routes to bicyclists. This is becoming more and more important as city councils are becoming…
The main aim of this paper is to solve a path planning problem for an autonomous mobile robot in static and dynamic environments. The problem is solved by determining the collision-free path that satisfies the chosen criteria for shortest…
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,…
Computing shortest paths is one of the most researched topics in algorithm engineering. Currently available algorithms compute shortest paths in mere fractions of a second on continental sized road networks. In the presence of…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. The previous best…
The current paper deals with the subject of shortest path routing in transportation networks (in terms of travelling time), where the speed in several of the network's roads is a function of the time interval. The main contribution of the…
We present improvements to a recently developed method for trajectory planning for autonomous surface vehicles (ASVs) in terms of run time. The original method combines two types of planners: An A* implementation that quickly finds the…
In this paper, we introduced a novel approach to computing the fewest-turn map directions or routes based on the concept of natural roads. Natural roads are joined road segments that perceptually constitute good continuity. This approach…
Tree rotations (left and right) are basic local deformations allowing to transform between two unlabeled binary trees of the same size. Hence, there is a natural problem of practically finding such transformation path with low number of…
Probabilistic sampling-based algorithms, such as the probabilistic roadmap (PRM) and the rapidly-exploring random tree (RRT) algorithms, represent one of the most successful approaches to robotic motion planning, due to their strong…
In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…
Routing algorithms for public transport, particularly the widely used RAPTOR and its variants, often face performance bottlenecks during the transfer relaxation phase, especially on dense transfer graphs, when supporting unlimited…
We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…
Shortest path computation is one of the most fundamental operations for managing and analyzing large social networks. Though existing techniques are quite effective for finding the shortest path on large but sparse road networks, social…