Related papers: Jump Point Search Pathfinding in 4-connected Grids
In the era of the proliferation of Geo-Spatial Data, induced by the diffusion of GPS devices, the map matching problem still represents an important and valuable challenge. The process of associating a segment of the underlying road network…
Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…
This paper introduces the covering path problem on a grid (CPPG) which finds the cost-minimizing path connecting a subset of points in a grid such that each point that needs to be covered is within a predetermined distance of a point from…
This paper introduces a novel algorithm combination designed for fast one-to-many multicriteria shortest path search. A preprocessing algorithm excludes irrelevant vertices by building a smaller cover graph. A modified version of…
Many fixed-parameter tractable algorithms using a bounded search tree have been repeatedly improved, often by describing a larger number of branching rules involving an increasingly complex case analysis. We introduce a novel and general…
The bi-objective shortest-path (BOSP) problem seeks to find paths between start and target vertices of a graph while optimizing two conflicting objective functions. We consider the BOSP problem in the presence of correlated objectives. Such…
Paths generated by A* and other graph-search-based planners are widely used in the robotic field. Due to the restricted node-expansion directions, the resulting paths are usually not the shortest. Besides, unnecessary heading changes, or…
Large scale-free graphs are famously difficult to process efficiently: the skewed vertex degree distribution makes it difficult to obtain balanced partitioning. Our research instead aims to turn this into an advantage by partitioning the…
We introduce PRISM (Pathfinding with Rapid Information Sharing using Motion Constraints), a decentralized algorithm designed to address the multi-task multi-agent pathfinding (MT-MAPF) problem. PRISM enables large teams of agents to…
Supernet is a core component in many recent Neural Architecture Search (NAS) methods. It not only helps embody the search space but also provides a (relative) estimation of the final performance of candidate architectures. Thus, it is…
Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…
With the recent advances in machine learning, path planning algorithms are also evolving; however, the learned path planning algorithms often have difficulty competing with success rates of classic algorithms. We propose waypoint planning…
Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…
Graph algorithms play an important role in many computer science areas. In order to solve problems that can be modeled using graphs, it is necessary to use a data structure that can represent those graphs in an efficient manner. On top of…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
Multi-agent pathfinding (MAPF) is the problem of finding a set of conflict-free paths for a set of agents. Typically, the agents' moves are limited to a pre-defined graph of possible locations and allowed transitions between them, e.g. a…
In this paper, we propose a paradigm for processing in parallel graph joins in road networks. The methodology we present can be used for distance join processing among the elements of two disjoint sets R,S of nodes from the road network,…
In a conventional supervised learning setting, a machine learning model has access to examples of all object classes that are desired to be recognized during the inference stage. This results in a fixed model that lacks the flexibility to…
The performance of search algorithms for grid-based pathfinding, e.g. A*, critically depends on the heuristic function that is used to focus the search. Recent studies have shown that informed heuristics that take the positions/shapes of…
We present a theoretical and empirical analysis of the adaptive entry point selection for graph-based approximate nearest neighbor search (ANNS). We introduce novel concepts: $b\textit{-monotonic path}$ and $B\textit{-MSNET}$, which better…