Related papers: Efficient Path Planning with Soft Homology Constra…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
The aim of tool path planning is to maximize the efficiency against some given precision criteria. In practice, scallop height should be kept constant to avoid unnecessary cutting, while the tool path should be smooth enough to maintain a…
Solving the Multi-Agent Path Finding (MAPF) problem optimally is known to be NP-Hard for both make-span and total arrival time minimization. While many algorithms have been developed to solve MAPF problems, there is no dominating optimal…
In this paper, we propose the first optimum process scheduling algorithm for an increasingly prevalent type of heterogeneous multicore (HEMC) system that combines high-performance big cores and energy-efficient small cores with the same…
Safety is extremely important for urban flights of autonomous Unmanned Aerial Vehicles (UAVs). Risk-aware path planning is one of the most effective methods to guarantee the safety of UAVs. This type of planning can be represented as a…
This paper presents a computationally efficient optimization algorithm for solving nonconvex optimal control problems that involve discrete logic constraints. Traditional solution methods for these constraints require binary variables and…
Gradient porous structured materials possess significant potential of being applied in many engineering fields. To accelerate the design process of infill graded microstructures, a novel asymptotic homogenisation topology optimisation…
Man-made environments typically comprise planar structures that exhibit numerous geometric relationships, such as parallelism, coplanarity, and orthogonality. Making full use of these relationships can considerably improve the robustness of…
We consider planning problems on a punctured Euclidean spaces, $\mathbb{R}^D - \widetilde{\mathcal{O}}$, where $\widetilde{\mathcal{O}}$ is a collection of obstacles. Such spaces are of frequent occurrence as configuration spaces of robots,…
Path planning is typically considered in Artificial Intelligence as a graph searching problem and R* is state-of-the-art algorithm tailored to solve it. The algorithm decomposes given path finding task into the series of subtasks each of…
In this paper, we present a novel path planning algorithm to achieve fast path planning in complex environments. Most existing path planning algorithms are difficult to quickly find a feasible path in complex environments or even fail.…
Homotopy optimization is a traditional method to deal with a complicated optimization problem by solving a sequence of easy-to-hard surrogate subproblems. However, this method can be very sensitive to the continuation schedule design and…
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many…
A new approach to the static route planning problem, based on a multi-staging concept and a \emph{scope} notion, is presented. The main goal (besides implied efficiency of planning) of our approach is to address---with a solid theoretical…
Using prototype methods to reduce the size of training datasets can drastically reduce the computational cost of classification with instance-based learning algorithms like the k-Nearest Neighbour classifier. The number and distribution of…
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…
This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…
Coverage path planning on irregular hexagonal grids is relevant to maritime surveillance, search and rescue and environmental monitoring, yet classical methods are often compared on small ad hoc examples or on rectangular grids. This paper…
We present a number of novel algorithms, based on mathematical optimization formulations, in order to solve a homogeneous multiprocessor scheduling problem, while minimizing the total energy consumption. In particular, for a system with a…