Related papers: An Efficient Method for Extracting the Shortest Pa…
We propose a path planning methodology for a mobile robot navigating through an obstacle-filled environment to generate a reference path that is traceable with moderate sensing efforts. The desired reference path is characterized as the…
Route choice is often modelled as a two-step procedure in which travellers choose their routes from small sets of promising candidates. Many methods developed to identify such choice sets rely on assumptions about the mechanisms behind the…
We introduce efficient algorithms for finding the $k$ shortest paths of a weighted pushdown automaton (WPDA), a compact representation of a weighted set of strings with potential applications in parsing and machine translation. Both of our…
We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…
We present an average case analysis of a variant of dual-pivot quicksort. We show that the used algorithmic partitioning strategy is optimal, i.e., it minimizes the expected number of key comparisons. For the analysis, we calculate the…
Computing shortest paths is one of the central problems in the theory of distributed computing. For the last few years, substantial progress has been made on the approximate single source shortest paths problem, culminating in an algorithm…
Path planning is an important topic in robotics. Recently, value iteration based deep learning models have achieved good performance such as Value Iteration Network(VIN). However, previous methods suffer from slow convergence and low…
In this study we consider the shortest path problem, where the arc costs are subject to distributional uncertainty. Basically, the decision-maker attempts to minimize her worst-case expected loss over an ambiguity set (or a family) of…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…
This paper introduces a novel algorithm combination designed for fast one-to-many multicriteria shortest path search. A preprocessing algorithm excludes irrelevant vertices by building a smaller cover graph. A modified version of…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
We report a new algorithm for constructing pathways between local minima that involve a large number of intervening transition states on the potential energy surface. A significant improvement in efficiency has been achieved by changing the…
We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisfy the kinematic constraints. We assume that the distance…
Given a public transportation network, which and how many passenger routes can potentially be shortest paths, when all possible timetables are taken into account? This question leads to shortest path problems on graphs with interval costs…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
The paper develops a novel motion model, called Generalized Multi-Speed Dubins Motion Model (GMDM), which extends the Dubins model by considering multiple speeds. While the Dubins model produces time-optimal paths under a constant speed…
Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of all of the robots in the space. The dimensionality of this…