Related papers: Asymptotically-Optimal Multi-Query Path Planning f…
This paper presents a Riemannian metric-based model to solve the optimal path planning problem on two-dimensional smooth submanifolds in high-dimensional space. Our model is based on constructing a new Riemannian metric on a two-dimensional…
We propose an exact algorithm for solving the longest simple path problem between two given vertices in undirected weighted graphs. By using graph partitioning and dynamic programming, we obtain an algorithm that is significantly faster…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
This paper reviews the overview of the dynamic shortest path routing problem and the various neural networks to solve it. Different shortest path optimization problems can be solved by using various neural networks algorithms. The routing…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…
Finding diverse solutions in combinatorial problems recently has received considerable attention (Baste et al. 2020; Fomin et al. 2020; Hanaka et al. 2021). In this paper we study the following type of problems: given an integer $k$, the…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
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…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
Path planning is a fundamental capability for autonomous navigation of robotic wheelchairs. With the impressive development of deep-learning technologies, imitation learning-based path planning approaches have achieved effective results in…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
The present work extends the randomized shortest-paths framework (RSP), interpolating between shortest-path and random-walk routing in a network, in three directions. First, it shows how to deal with equality constraints on a subset of…
The method is based on the preliminary transformation of the traditionally used matrices or adjacency lists in the graph theory into refined projections free from redundant information, and their subsequent use in constructing shortest…
Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
The Dijkstra algorithm is a classic path planning method, which operates in a discrete graph space to determine the shortest path from a specified source point to a target node or all other nodes based on non-negative edge weights. Numerous…
We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…