Related papers: A Universal Scheme for Dynamic Partitioned Shortes…
Dynamic graph research is an essential subject in Computer Science. The shortest path problem is still the central in this field; moreover there is a variety of applications in practical projects. In this paper, we select the transportation…
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…
In this paper, we present a fully-dynamic distributed algorithm for maintaining a minimum spanning tree on general graphs with positive real edge weights. The goal of a dynamic MST algorithm is to update efficiently the minimum spanning…
Querying the shortest path between two vertexes is a fundamental operation in a variety of applications, which has been extensively studied over static road networks. However, in reality, the travel costs of road segments evolve over time,…
Gradient compression is of growing interests for solving constrained optimization problems including compressed sensing, noisy recovery and matrix completion under limited communication resources and storage costs. Convergence analysis of…
In this paper, we study the single-source shortest-path (SSSP) problem with positive edge weights, which is a notoriously hard problem in the parallel context. In practice, the $\Delta$-stepping algorithm proposed by Meyer and Sanders has…
In this thesis, we present new techniques to deal with fundamental algorithmic graph problems where graphs are directed and partially dynamic, i.e. undergo either a sequence of edge insertions or deletions: - Single-Source Reachability…
Utilizing graph algorithms is a common activity in computer science. Algorithms that perform computations on large graphs are not always efficient. This work investigates the Single-Source Shortest Path (SSSP) problem, which is considered…
Collision checking is a computational bottleneck in motion planning, requiring lazy algorithms that explicitly reason about when to perform this computation. Optimism in the face of collision uncertainty minimizes the number of checks…
Efficiently planning an Unmanned Aerial Vehicle (UAV) path is crucial, especially in dynamic settings where potential threats are prevalent. A Dynamic Path Planner (DPP) for UAV using the Spherical Vector-based Particle Swarm Optimisation…
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,…
Policy optimization is among the most popular and successful reinforcement learning algorithms, and there is increasing interest in understanding its theoretical guarantees. In this work, we initiate the study of policy optimization for the…
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find…
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…
Analyzing large graph data is an essential part of many modern applications, such as social networks. Due to its large computational complexity, distributed processing is frequently employed. This requires graph data to be divided across…
This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as…
Finding the shortest paths in road network is an important query in our life nowadays, and various index structures are constructed to speed up the query answering. However, these indexes can hardly work in real-life scenario because the…
The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…