Related papers: An efficient tangent based topologically distincti…

This paper proposes a novel heterogeneous grid convolution that builds a graph-based image representation by exploiting heterogeneity in the image content, enabling adaptive, efficient, and controllable computations in a convolutional…

We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach introduces finite-horizon hierarchical factorization, a…

This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…

To achieve autonomous driving without high-definition maps, we present a model capable of generating multiple plausible paths from egocentric images for autonomous vehicles. Our generative model comprises two neural networks: the feature…

For the task of moving a group of indistinguishable agents on a connected graph with unit edge lengths into an arbitrary goal formation, it was previously shown that distance optimal paths can be scheduled to complete with a tight…

There exist many orthogonal graph drawing algorithms that minimize edge crossings or edge bends, however they produce unsatisfactory drawings in many practical cases. In this paper we present a grid-based algorithm for drawing orthogonal…

Curves play a fundamental role across computer graphics, physical simulation, and mathematical visualization, yet most tools for curve design do nothing to prevent crossings or self-intersections. This paper develops efficient algorithms…

In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with continuous trajectory optimization. Our main contribution is a…

Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks. In this article, we are interested in developing incremental graph search algorithms for path…

In this paper we explore a symmetry-based search space reduction technique which can speed up optimal pathfinding on undirected uniform-cost grid maps by up to 38 times. Our technique decomposes grid maps into a set of empty rectangles,…

Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…

The Dijkstra algorithm is a classic path planning method, which in a discrete graph space, can start from a specified source node and find the shortest path between the source node and all other nodes in the graph. However, to the best of…

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…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…

A localized method to distribute paths on random graphs is devised, aimed at finding the shortest paths between given source/destination pairs while avoiding path overlaps at nodes. We propose a method based on message-passing techniques to…

Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…

Identifying influential spreaders in complex networks is a crucial problem which relates to wide applications. Many methods based on the global information such as $k$-shell and PageRank have been applied to rank spreaders. However, most of…

Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the predefined threshold, is considered in the paper. This problem…

This paper presents an optimal network topology control framework using cutting-plane methods for efficient network partitioning with controllable edges. The objective is to enable real-time reconfiguration of interconnected sub-networks…

Path planning plays a crucial role in robot action execution, since a path or a motion trajectory for a particular action has to be defined first before the action can be executed. Most of the current approaches are iterative methods where…