Related papers: Exact Wavefront Propagation for Globally Optimal O…
A new algorithm is proposed to describe the propagation of fronts advected in the normal direction with prescribed speed function F. The assumptions on F are that it does not depend on the front itself, but can depend on space and time.…
In a series of papers, Avraham, Filtser, Kaplan, Katz, and Sharir (SoCG'14), Kaplan, Katz, Saban, and Sharir (ESA'23), and Katz, Saban, and Sharir (ESA'24) studied a class of geometric optimization problems -- including reverse shortest…
This paper presents a new multi-query motion planning algorithm for linear Gaussian systems with the goal of reaching a Euclidean ball with high probability. We develop a new formulation for ball-shaped ambiguity sets of Gaussian…
The optimal transport (OT) problem aims to find the most efficient mapping between two probability distributions under a given cost function, and has diverse applications in many fields such as machine learning, computer vision and computer…
A recent paper \cite{CaeCaeSchBar06} proposed a provably optimal, polynomial time method for performing near-isometric point pattern matching by means of exact probabilistic inference in a chordal graphical model. Their fundamental result…
We present an algorithm to find an {\it Euclidean Shortest Path} from a source vertex $s$ to a sink vertex $t$ in the presence of obstacles in $\Re^2$. Our algorithm takes $O(T+m(\lg{m})(\lg{n}))$ time and $O(n)$ space. Here, $O(T)$ is the…
Optimal transportation, or computing the Wasserstein or ``earth mover's'' distance between two distributions, is a fundamental primitive which arises in many learning and statistical settings. We give an algorithm which solves this problem…
An efficient method for computing solutions to the Optimal Transportation (OT) problem with a wide class of cost functions is presented. The standard linear programming (LP) discretization of the continuous problem becomes intractible for…
In this paper, a gradient-free distributed algorithm is introduced to solve a set constrained optimization problem under a directed communication network. Specifically, at each time-step, the agents locally compute a so-called…
We introduce an architecture for variational quantum algorithms that can be efficiently trained via parameter updates along exact geodesics on the Riemannian state manifold. This features a parameter-optimal circuit ansatz which supersedes…
We introduce a novel neural network-based algorithm to compute optimal transport (OT) plans for general cost functionals. In contrast to common Euclidean costs, i.e., $\ell^1$ or $\ell^2$, such functionals provide more flexibility and allow…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
The recent deep learning revolution has created an enormous opportunity for accelerating compute capabilities in the context of physics-based simulations. Here, we propose EikoNet, a deep learning approach to solving the Eikonal equation,…
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…
Existing Global Path Planning (GPP) algorithms predominantly presume planning in static environments. This assumption immensely limits their applications to Unmanned Surface Vehicles (USVs) that typically navigate in dynamic environments.…
This work develops a distributed optimization strategy with guaranteed exact convergence for a broad class of left-stochastic combination policies. The resulting exact diffusion strategy is shown in Part II to have a wider stability range…
Algorithmic approaches to exhaustive coverage have application in video games, enabling automatic game level exploration. Current designs use simple heuristics that frequently result in poor performance or exhibit unnatural behaviour. In…
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…
In this work, we propose a novel machine learning approach to compute the optimal transport map between two continuous distributions from their unpaired samples, based on the DeepParticle methods. The proposed method leads to a min-min…
We present a family of fast and accurate Dijkstra-like solvers for the eikonal equation and factored eikonal equation which compute solutions on a regular grid by solving local variational minimization problems. Our methods converge…