Related papers: A Sublinear Algorithm for Path Feasibility Among R…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…
Graphs are widely used to model complicated data semantics in many application domains. In this paper, two novel and efficient algorithms Fast-ON and Fast-P are proposed for solving the subgraph isomorphism problem. The two algorithms are…
In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…
Path planning in obstacle-dense environments is a key challenge in robotics, and depends on inferring scene attributes and associated uncertainties. We present a multiple-hypothesis path planner designed to navigate complex environments…
We study solution discovery, where the goal is to obtain a feasible solution to a problem from an initial configuration by a bounded sequence of local moves. In many applications, however, the graph that defines which vertex sets are…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
In a previous paper [11] we introduced a weighted binary average of two 2D point-normal pairs, termed circle average, and investigated subdivision schemes based on it. These schemes refine point-normal pairs in 2D, and converge to limit…
We discuss a new algorithmic type of problem in random graphs studying the minimum number of queries one has to ask about adjacency between pairs of vertices of a random graph $G\sim {\mathcal G}(n,p)$ in order to find a subgraph which…
Given an undirected graph, $G$, and vertices, $s$ and $t$ in $G$, the tracking paths problem is that of finding the smallest subset of vertices in $G$ whose intersection with any $s$-$t$ path results in a unique sequence. This problem is…
Several modern applications involve huge graphs and require fast answers to reachability queries. In more than two decades since first proposals, several approaches have been presented adopting on-line searches, hop labelling or transitive…
Graph-structured data is central to many scientific and industrial domains, where the goal is often to optimize objectives defined over graph structures. Given the combinatorial complexity of graph spaces, such optimization problems are…
Given a graph $G$ and two vertices $s$ and $t$ in it, {\em graph reachability} is the problem of checking whether there exists a path from $s$ to $t$ in $G$. We show that reachability in directed layered planar graphs can be decided in…