Related papers: TRAPP: An Efficient Point-to-Point Path Planning A…
The shortest path problem in graphs is fundamental to AI. Nearly all variants of the problem and relevant algorithms that solve them ignore edge-weight computation time and its common relation to weight uncertainty. This implies that taking…
Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key challenge is planning paths for maximal search efficiency given flight time constraints. To address…
Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…
Road safety is a major global public health concern. Effective traffic crash prediction can play a critical role in reducing road traffic accidents. However, Existing machine learning approaches tend to focus on predicting traffic accidents…
In unstructured environments, obstacles are diverse and lack lane markings, making trajectory planning for intelligent vehicles a challenging task. Traditional trajectory planning methods typically involve multiple stages, including path…
Multi-agent path planning (MAPP) in continuous spaces is a challenging problem with significant practical importance. One promising approach is to first construct graphs approximating the spaces, called roadmaps, and then apply multi-agent…
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…
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…
We study optimal Multi-robot Path Planning (MPP) on graphs, in order to improve the efficiency of multi-robot system (MRS) in the warehouse-like environment. We propose a novel algorithm, OMRPP (One-way Multi-robot Path Planning) based on…
Computing shortest paths is one of the most researched topics in algorithm engineering. Currently available algorithms compute shortest paths in mere fractions of a second on continental sized road networks. In the presence of…
The shortest-path distance is a fundamental concept in graph analytics and has been extensively studied in the literature. In many real-world applications, quality constraints are naturally associated with edges in the graphs and finding…
Safe-interval path planning (SIPP) is a powerful algorithm for finding a path in the presence of dynamic obstacles. SIPP returns provably optimal solutions. However, in many practical applications of SIPP such as path planning for robots,…
Robotic planning in real-world scenarios typically requires joint optimization of logic and continuous variables. A core challenge to combine the strengths of logic planners and continuous solvers is the design of an efficient interface…
With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algorithms are crucial for ensuring successful task completion…
We introduce the transport-and-pack(TAP) problem, a frequently encountered instance of real-world packing, and develop a neural optimization solution based on reinforcement learning. Given an initial spatial configuration of boxes, we seek…
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…
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…
Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the predefined threshold, is considered in the paper. This problem…
The goal of traffic management is efficiently utilizing network resources via adapting of source sending rates and routes selection. Traditionally, this problem is formulated into a utilization maximization problem. The single-path routing…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…