Related papers: A-MHA*: Anytime Multi-Heuristic A*
Relaxed models are abstract problem descriptions generated by ignoring constraints that are present in base-level problems. They play an important role in planning and search algorithms, as it has been shown that the length of an optimal…
Text-to-image models like stable diffusion and DALLE-3 still struggle with multi-turn image editing. We decompose such a task as an agentic workflow (path) of tool use that addresses a sequence of subtasks by AI tools of varying costs.…
Path planning in robotics often involves solving continuously valued, high-dimensional problems. Popular informed approaches include graph-based searches, such as A*, and sampling-based methods, such as Informed RRT*, which utilize informed…
This paper considers robot motion planning under temporal logic constraints in probabilistic maps obtained by semantic simultaneous localization and mapping (SLAM). The uncertainty in a map distribution presents a great challenge for…
Performance analysis of all kinds of randomised search heuristics is a rapidly growing and developing field. Run time and solution quality are two popular measures of the performance of these algorithms. The focus of this paper is on the…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
This paper addresses the problem of managing perishable inventory under multiple sources of uncertainty, including stochastic demand, unreliable supplier fulfillment, and probabilistic product shelf life. We develop a discrete-event…
Carpooling has gained considerable importance in developed as well as in developing countries as an effective solution for controlling vehicular pollution, both sound and air. As carpooling decreases the number of vehicles used by…
Recent advances in metareasoning for search has shown its usefulness in improving numerous search algorithms. This paper applies rational metareasoning to IDA* when several admissible heuristics are available. The obvious basic approach of…
We consider an agent seeking to obtain an item, potentially available at different locations in a physical environment. The traveling costs between locations are known in advance, but there is only probabilistic knowledge regarding the…
We address the problem of finding the shortest path between two points in an unknown real physical environment, where a traveling agent must move around in the environment to explore unknown territory. We introduce the Physical-A* algorithm…
Much combinatorial optimisation problems constitute a non-polynomial (NP) hard optimisation problem, i.e., they can not be solved in polynomial time. One such problem is finding the shortest route between two nodes on a graph.…
The paper describes the proposition and application of a local search metaheuristic for multi-objective optimization problems. It is based on two main principles of heuristic search, intensification through variable neighborhoods, and…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
Hough transform (HT) has been the most common method for circle detection exhibiting robustness but adversely demanding a considerable computational load and large storage. Alternative approaches include heuristic methods that employ…
We propose an anytime online algorithm for the problem of learning a sequence of adversarial convex cost functions while approximately satisfying another sequence of adversarial online convex constraints. A sequential algorithm is called…
Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The…
Fastest-path queries between two points in a very large road map is an increasingly important primitive in modern transportation and navigation systems, thus very efficient computation of these paths is critical for system performance and…
As the trend of moving away from high-precision maps gradually emerges in the autonomous driving industry,traditional planning algorithms are gradually exposing some problems. To address the high real-time, high precision, and high…
This paper considers a generalization of the Path Finding (PF) problem with refuelling constraints referred to as the Gas Station Problem (GSP). Similar to PF, given a graph where vertices are gas stations with known fuel prices, and edge…