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As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
This paper addresses point-to-point packet routing in undirected networks, which is the most important communication primitive in most networks. The main result proves the existence of routing tables that guarantee a polylog-competitive…
Multi-Agent Path Finding (MAPF) is a fundamental motion coordination problem arising in multi-agent systems with a wide range of applications. The problem's intractability has led to extensive research on improving the scalability of…
We discuss the complexity of path enumeration and counting in weighted temporal graphs. In a weighted temporal graph, each edge has an availability time, a traversal time and some real cost. We introduce two bicriteria temporal min-cost…
A temporal graph is a graph in which vertices communicate with each other at specific time, e.g., $A$ calls $B$ at 11 a.m. and talks for 7 minutes, which is modeled by an edge from $A$ to $B$ with starting time "11 a.m." and duration "7…
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
Autonomous technology, which has become widespread today, appears in many different configurations such as mobile robots, manipulators, and drones. One of the most important tasks of these vehicles during autonomous operations is path…
This paper presents a novel approach to multi-robot collision avoidance that integrates global path planning with local navigation strategies, utilizing attentive graph neural networks to manage dynamic interactions among agents. We…
Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse…
This paper considers the problem of finding an optimal order for entanglement swapping in a heterogeneous path of quantum repeaters so as to maximize the path throughput defined as the delivery rate of end-to-end entanglements. The primary…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…
Currently, path planning algorithms are used in many daily tasks. They are relevant to find the best route in traffic and make autonomous robots able to navigate. The use of path planning presents some issues in large and dynamic…
In this paper, an efficient motion planning approach with grid-based generalized Voronoi diagrams (G$ \mathbf{^2} $VD) is newly proposed for mobile robots. Different from existing approaches, the novelty of this work is twofold: 1) a new…
We tackle the problem of goal-directed graph construction: given a starting graph, a budget of modifications, and a global objective function, the aim is to find a set of edges whose addition to the graph achieves the maximum improvement in…
An important tool in analyzing complex social and information networks is s-t simple path counting, which is known to be #P-complete. In this paper, we study efficient s-t simple path counting in directed graphs. For a given pair of…
Compact and I/O-efficient data representations play an important role in efficient algorithm design, as memory bandwidth and latency can present a significant performance bottleneck, slowing the computation by orders of magnitude. While…
We study the multi-agent path finding problem (MAPF) for a group of agents which are allowed to move into arbitrary directions on a 2D square grid. We focus on centralized conflict resolution for independently computed plans. We propose an…
The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…