Related papers: Benchmarking Classical Coverage Path Planning Heur…
Informative path planning algorithms are of paramount importance in applications like disaster management to efficiently gather information through a priori unknown environments. This is, however, a complex problem that involves finding a…
Finding Hamitonian Cycles in square grid graphs is a well studied and important questions. More recent work has extended these results to triangular and hexagonal grids, as well as further restricted versions. In this paper, we examine a…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achieving efficient and rapid path planning within complex…
The performance of search algorithms for grid-based pathfinding, e.g. A*, critically depends on the heuristic function that is used to focus the search. Recent studies have shown that informed heuristics that take the positions/shapes of…
This paper presents the results of an experimental study of graph partitioning. We describe a new heuristic technique, path optimization, and its application to two variations of graph partitioning: the max_cut problem and the…
Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
In this paper, we propose a deterministic algorithm that approximates the optimal path cover on weighted undirected graphs. Based on the 1/2-Approximation Path Cover Algorithm by Moran et al., we add a procedure to remove the redundant…
This paper studies robust variants of an extended model of the classical Heterogeneous Vehicle Routing Problem (HVRP), where a mixed fleet of vehicles with different capacities, availabilities, fixed costs and routing costs is used to serve…
Recent studies in maritime logistics have introduced a general ship routing problem and a benchmark suite based on real shipping segments, considering pickups and deliveries, cargo selection, ship-dependent starting locations, travel times…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…
Given an embedded planar acyclic digraph G, we define the problem of "acyclic hamiltonian path completion with crossing minimization (Acyclic-HPCCM)" to be the problem of determining an hamiltonian path completion set of edges such that,…
The Single-Source Shortest Path (SSSP) problem is well-known for the challenges in developing fast, practical, and work-efficient parallel algorithms. This work introduces a novel shortest path search method. It allows paths with different…
This paper presents a systematic review of mapping and scheduling strategies within the High-Performance Computing (HPC) compute continuum, with a particular emphasis on heterogeneous systems. It introduces a prototype workflow to establish…
This paper proposes a local search algorithm for a specific combinatorial optimisation problem in graph theory: the Hamiltonian Completion Problem (HCP) on undirected graphs. In this problem, the objective is to add as few edges as possible…
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…
Routing and scheduling problems are fundamental problems in combinatorial optimization, and also have many applications. Most variations of these problems are NP-Hard, so we need to use heuristics to solve these problems on large instances,…
Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…
There is an impressive body of work on developing heuristics and other reasoning algorithms to guide search in optimal and anytime planning algorithms for classical planning. However, very little effort has been directed towards developing…
Directed graphs provide more subtle and precise modelling tools for optimization in road networks than simple graphs. In particular, they are more suitable in the context of alternative fuel vehicles and new automotive technologies, like…