Related papers: Jump Point Search Pathfinding in 4-connected Grids
JPS (Jump Point Search) is a state-of-the-art optimal algorithm for online grid-based pathfinding. Widely used in games and other navigation scenarios, JPS nevertheless can exhibit pathological behaviours which are not well studied: (i) it…
In many navigational domains the traversability of cells is conditioned on the path taken. This is often the case in video-games, in which a character may need to acquire a certain object (i.e., a key or a flying suit) to be able to…
Downsampling and path planning are essential in robotics and autonomous systems, as they enhance computational efficiency and enable effective navigation in complex environments. However, current downsampling methods often fail to preserve…
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
Positioning systems in self-organizing networks generally rely on measurements such as delay and received signal strength, which may be difficult to obtain and often require dedicated equipment. An alternative to such approaches is to use…
In this paper we explore a symmetry-based search space reduction technique which can speed up optimal pathfinding on undirected uniform-cost grid maps by up to 38 times. Our technique decomposes grid maps into a set of empty rectangles,…
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…
Geospatial joins are a core building block of connected mobility applications. An especially challenging problem are joins between streaming points and static polygons. Since points are not known beforehand, they cannot be indexed.…
Four-wheel Independent Steering (4WIS) vehicles have attracted increasing attention for their superior maneuverability. Human drivers typically choose to cross or drive over the low-profile obstacles (e.g., plastic bags) to efficiently…
The search for joinable data is pivotal for numerous applications, such as data integration, data augmentation, and data analysis. Although there have been many successful joinable search studies for table discovery, the study of finding…
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find…
Additive spanners are fundamental graph structures with wide applications in network design, graph sparsification, and distance approximation. In particular, a $4$-additive spanner is a subgraph that preserves all pairwise distances up to…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
Shortest path search is a core operation in graph-based applications, yet existing methods face important limitations. Classical algorithms such as Dijkstra's and A* become inefficient as graphs grow more complex, while index-based…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…
Hypergraph matching has recently become a popular approach for solving correspondence problems in computer vision as it allows to integrate higher-order geometric information. Hypergraph matching can be formulated as a third-order…
Querying the shortest path between two vertexes is a fundamental operation in a variety of applications, which has been extensively studied over static road networks. However, in reality, the travel costs of road segments evolve over time,…
We consider the fundamental problem of decomposing a large-scale approximate nearest neighbor search (ANNS) problem into smaller sub-problems. The goal is to partition the input points into neighborhood-preserving shards, so that the…
Robot pick and place systems have traditionally decoupled grasp, placement, and motion planning to build sequential optimization pipelines with the assumption that the individual components will be able to work together. However, this…