Related papers: Logic-Constrained Shortest Paths for Flight Planni…
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 new branch-and-cut algorithm based on infeasible path elimination for the three-dimensional loading capacitated vehicle routing problem (3L-CVRP) with different loading problem variants. We show that a previously…
We present a novel algorithm that fuses the existing convex-programming based approach with heuristic information to find optimality guarantees and near-optimal paths for the Shortest Path Problem in the Graph of Convex Sets (SPP-GCS). Our…
In high-density environments where numerous autonomous agents move simultaneously in a distributed manner, streamlining global flows to mitigate local congestion is crucial to maintain overall navigation efficiency. This paper introduces a…
With the advent of Network Function Virtualization (NFV), Physical Network Functions (PNFs) are gradually being replaced by Virtual Network Functions (VNFs) that are hosted on general purpose servers. Depending on the call flows for…
The problem of Multi-Agent Path Finding (MAPF) calls for finding a set of conflict-free paths for a fleet of agents operating in a given environment. Arguably, the state-of-the-art approach to computing optimal solutions is Conflict-Based…
We introduce the Multi-Robot Connected Fermat Spiral (MCFS), a novel algorithmic framework for Multi-Robot Coverage Path Planning (MCPP) that adapts Connected Fermat Spiral (CFS) from the computer graphics community to multi-robot…
Traffic control is at the core of research in transportation engineering because it is one of the best practices for reducing traffic congestion. It has been shown in recent years that the traffic control problem involving…
We study a resource-constrained variant of the Random Disambiguation Path (RDP) problem, a generalization of the Stochastic Obstacle Scene (SOS) problem, in which a navigating agent must reach a target in a spatial environment populated…
In this work, we focus on the Partial Constraint Satisfaction Problem (PCSP) over control-flow graphs (CFGs) of programs. PCSP serves as a generalization of the well-known Constraint Satisfaction Problem (CSP). In the CSP framework, we…
An instance of the NP-hard Quadratic Shortest Path Problem (QSPP) is called linearizable iff it is equivalent to an instance of the classic Shortest Path Problem (SPP) on the same input digraph. The linearization problem for the QSPP…
In this paper, we study the shortest path problem (SPP) with multiple source-destination pairs (MSD), namely MSD-SPP, to minimize average travel time of all shortest paths. The inherent traffic capacity limits within a road network…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
We propose a novel approach for navigating in polygonal environments by synthesizing controllers that take as input relative displacement measurements with respect to a set of landmarks. Our algorithm is based on solving a sequence of…
Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…
The constrained path optimization (CPO) problem takes the following input: (a) a road network represented as a directed graph, where each edge is associated with a "cost" and a "score" value; (b) a source-destination pair and; (c) a budget…
Carrier-grade networks comprise several layers where different protocols coexist. Nowadays, most of these networks have different control planes to manage routing on different layers, leading to a suboptimal use of the network resources and…
This paper looks at two problems, minimum constrained input selection and minimum cost constrained input selection for state space structured systems. The input matrix is constrained in the sense that the set of states that each input can…
We study graph-based Multi-Robot Coverage Path Planning (MCPP) that aims to compute coverage paths for multiple robots to cover all vertices of a given 2D grid terrain graph $G$. Existing graph-based MCPP algorithms first compute a tree…
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…