Related papers: Jump Point Search Pathfinding in 4-connected Grids
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…
Reliable perception of targets is crucial for the stable operation of autonomous robots. A widely preferred method is keypoint identification in an image, as it allows direct mapping from raw images to 2D coordinates, facilitating…
This paper introduces a method of structure inspection using mixed-reality headsets to reduce the human effort in reporting accurate inspection information such as fault locations in 3D coordinates. Prior to every inspection, the headset…
A connected graph is 4-connected if it contains at least five vertices and removing any three of them does not disconnect it. A frequent preprocessing step in graph drawing is to decompose a plane graph into its 4-connected components and…
Motivated by the increasing availability of vehicle trajectory data, we propose learn-to-route, a comprehensive trajectory-based routing solution. Specifically, we first construct a graph-like structure from trajectories as the routing…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
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…
We present a new fast all-pairs shortest path algorithm for unweighted graphs. In breadth-first search which is said to representative and fast in unweighted graphs, the average number of accesses to adjacent vertices (expressed by…
Visually sorted grid layouts provide an efficient method for organizing high-dimensional vectors in two-dimensional space by aligning spatial proximity with similarity relationships. This approach facilitates the effective sorting of…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms for rapid replanning in dynamic environments where edge…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Constrained pathfinding is a well-studied, yet challenging network optimisation problem that can be seen in a broad range of real-world applications. Pathfinding with multiple resource limits, which is known as the Resource Constrained…
We investigate the Optimal Obstacle Placement (OOP) problem under uncertainty, framed as the dual of the Optimal Traversal Path problem in the Stochastic Obstacle Scene paradigm. We consider both continuous domains, discretized for…
Differentiable ARchiTecture Search (DARTS) has attracted much attention due to its simplicity and significant improvement in efficiency. However, the excessive accumulation of the skip connection, when training epochs become large, makes it…
We present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own search space of the common environment as a multi-resolution…
An $N$-point FFT admits many valid implementations that differ in radix choice, stage ordering, and register-blocking strategy. These alternatives use different SIMD instruction mixes with different latencies, yet produce the same…
In recent years, neural architecture search (NAS) methods have been proposed for the automatic generation of task-oriented network architecture in image classification. However, the architectures obtained by existing NAS approaches are…
Since the first solutions finding minimally weighted routes in weighted digraphs, a plethora of literature has appeared improving the performance of shortest-path queries for use in real-world applications. In this paper, we detail how an…
Local feature matching aims at establishing sparse correspondences between a pair of images. Recently, detector-free methods present generally better performance but are not satisfactory in image pairs with large scale differences. In this…