Related papers: Jump Point Search Pathfinding in 4-connected Grids

Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…

We develop new algorithmic techniques for VLSI detailed routing. First, we improve the goal-oriented version of Dijkstra's algorithm to find shortest paths in huge incomplete grid graphs with edge costs depending on the direction and the…

Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…

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…

In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…

Shortest Path (SP) computation is a fundamental operation in many real-life applications such as navigation on road networks, link analysis on social networks, etc. These networks tend to be massive, and graph partitioning is commonly…

This paper presents a free space trajectory optimization algorithm of autonomous driving vehicle, which decouples the collision-free trajectory planning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) and a Piece-wise…

Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…

Graph reachability is the task of understanding whether two distinct points in a graph are interconnected by arcs to which in general a semantic is attached. Reachability has plenty of applications, ranging from motion planning to routing.…

Reasoning on large-scale knowledge graphs has been long dominated by embedding methods. While path-based methods possess the inductive capacity that embeddings lack, their scalability is limited by the exponential number of paths. Here we…

This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…

Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks. In this article, we are interested in developing incremental graph search algorithms for path…

In the design of deep neural architectures, recent studies have demonstrated the benefits of grouping subnetworks into a larger network. For examples, the Inception architecture integrates multi-scale subnetworks and the residual network…

In this article, we study the Adjacent Quadratic Shortest Path Problem (AQSPP), which consists in finding the shortest path on a directed graph when its total weight component also includes the impact of consecutive arcs. We provide a…

Intelligent routing in networks has opened up many challenges in modelling and methods, over the past decade. Many techniques do exist for routing on such an environment where path determination was carried out by advertisement, position…

This paper addresses the path selection problem from a known source to the destination in dense networks. The proposed solution for route discovery uses the genetic algorithm approach for a QoS based network. The multi point crossover and…

The advancement of mobile technologies and the proliferation of map-based applications have enabled a user to access a wide variety of services that range from information queries to navigation systems. Due to the popularity of map-based…

Union-Find (or Disjoint-Set Union) is one of the fundamental problems in computer science; it has been well-studied from both theoretical and practical perspectives in the sequential case. Recently, there has been mounting interest in…

Circuit routing has been a historically challenging problem in designing electronic systems such as very large-scale integration (VLSI) and printed circuit boards (PCBs). The main challenge is that connecting a large number of electronic…

On-demand ride-sharing is rapidly growing.Matching trip requests to vehicles efficiently is critical for the service quality of ride-sharing. To match trip requests with vehicles, a prune-and-select scheme is commonly used. The pruning…