Related papers: New algorithms for the simplification of multiple …
Modern robotic systems are required to operate in dense dynamic environments, requiring highly accurate real-time track identification and estimation. For 3D multi-object tracking, recent approaches process a single measurement frame…
It is common to encounter situations where one must solve a sequence of similar computational problems. Running a standard algorithm with worst-case runtime guarantees on each instance will fail to take advantage of valuable structure…
Max Restricted Path Consistency (maxRPC) is a local consistency for binary constraints that can achieve considerably stronger pruning than arc consistency. However, existing maxRRC algorithms suffer from overheads and redundancies as they…
We study a scenario for route planning in road networks, where the objective to be optimized may change between every shortest path query. Since this invalidates many of the known speedup techniques for road networks that are based on…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…
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…
Tensor networks represent the state-of-the-art in computational methods across many disciplines, including the classical simulation of quantum many-body systems and quantum circuits. Several applications of current interest give rise to…
The offline pickup and delivery problem with time windows (PDPTW) is a classical combinatorial optimization problem in the transportation community, which has proven to be very challenging computationally. Due to the complexity of the…
Bounded model checking is among the most efficient techniques for the automatic verification of concurrent programs. However, encoding all possible interleavings often requires a huge and complex formula, which significantly limits the…
Node connectivity plays a central role in temporal network analysis. We provide a comprehensive study of various concepts of walks in temporal graphs, that is, graphs with fixed vertex sets but edge sets changing over time. Taking into…
Tree-width and path-width are widely successful concepts. Many NP-hard problems have efficient solutions when restricted to graphs of bounded tree-width. Many efficient algorithms are based on a tree decomposition. Sometimes the more…
We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that…
The capacitated Vehicle Routing Problem with structured Time Windows (cVRPsTW) is concerned with finding optimal tours for vehicles with given capacity constraints to deliver goods to customers within assigned time windows. In our problem…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
This work presents two new algorithms for performing constraint satisfaction. The first algorithm presented, DMaxWalkSat, is a constraint solver specialized for solving dynamic, weighted constraint satisfaction problems. The second…
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We…
The computation of time-optimal velocity profiles along prescribed paths, subject to generic acceleration constraints, is a crucial problem in robot trajectory planning, with particular relevance to autonomous racing. However, the existing…
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…