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Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…
Algorithms which compute properties over graphs have always been of interest in computer science, with some of the fundamental algorithms, such as Dijkstra's algorithm, dating back to the 50s. Since the 70s there as been interest in…
One core challenge in the development of automated vehicles is their capability to deal with a multitude of complex trafficscenarios with many, hard to predict traffic participants. As part of the iterative development process, it is…
A new heuristic for rectilinear crossing minimization is proposed. It is based on the idea of iteratively repositioning nodes after a first initial graph drawing. The new position of a node is computed by casting rays from the node towards…
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…
The survival analysis of driving trajectories allows for holistic evaluations of car-related risks caused by collisions or curvy roads. This analysis has advantages over common Time-To-X indicators, such as its predictive and probabilistic…
Nowadays Knowledge Graphs constitute a mainstream approach for the representation of relational information on big heterogeneous data, however, they may contain a big amount of imputed noise when constructed automatically. To address this…
This work presents a step towards utilizing incrementally-improving symbolic perception knowledge of the robot's surroundings for provably correct reactive control synthesis applied to an autonomous driving problem. Combining abstract…
In this paper we deal with the Bin Packing Problem with Conflicts on interval graphs: given an interval graph, a nonnegative integer weight for each vertex, and a nonnegative integer B, find a partition of the vertex set of the graph into k…
Assessing and improving the robustness of a graph $G$ are critical steps in network design and analysis. To this end, we consider the optimisation problem of removing $k$ edges from $G$ such that the resulting graph has minimal robustness,…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
We design fast dynamic algorithms for proper vertex and edge colorings in a graph undergoing edge insertions and deletions. In the static setting, there are simple linear time algorithms for $(\Delta+1)$- vertex coloring and…
We contribute to the theoretical understanding of randomized search heuristics for dynamic problems. We consider the classical vertex coloring problem on graphs and investigate the dynamic setting where edges are added to the current graph.…
This paper studies the discovery of approximate rules in property graphs. We propose a semantically meaningful measure of error for mining graph entity dependencies (GEDs) at almost hold, to tolerate errors and inconsistencies that exist in…
In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1)…
This paper presents an approach to learn the local-search heuristics that iteratively improves the solution of Vehicle Routing Problem (VRP). A local-search heuristics is composed of a destroy operator that destructs a candidate solution,…
We study stochastic graph optimization problems in a novel distributed setting. As in the standard centralized setting, a random subgraph $G^*$ of a known base graph $G$ is realized by including each edge $e$ independently with a known…
Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…
We propose a new Statistical Complexity Measure (SCM) to qualify edge maps without Ground Truth (GT) knowledge. The measure is the product of two indices, an \emph{Equilibrium} index $\mathcal{E}$ obtained by projecting the edge map into a…
There are many applications of graph cuts in computer vision, e.g. segmentation. We present a novel method to reformulate the NP-hard, k-way graph partitioning problem as an approximate minimal s-t graph cut problem, for which a globally…