Related papers: Benchmarking Classical Coverage Path Planning Heur…
We introduce a new numerical method to approximate the solutions of a class of stationary Hamilton-Jacobi (HJ) partial differential equations arising from minimum time optimal control problems. We rely on nested grid approximations, and…
Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments.In this paper, we propose the NNPP model for…
We study the optimization of navigational graph queries, i.e., queries which combine recursive and pattern-matching fragments. Current approaches to their evaluation are not effective in practice. Towards addressing this, we present a…
Counting the number of Hamiltonian cycles that are contained in a geometric graph is {\bf \#P}-complete even if the graph is known to be planar \cite{lot:refer}. A relaxation for problems in plane geometric graphs is to allow the geometric…
Heuristic-based methods are among the most popular methods in the process discovery area. This category of methods is composed of two main steps: 1) discovering a dependency graph 2) determining the split/join patterns of the dependency…
The paper presents a novel sample-based algorithm, called C*, for real-time coverage path planning (CPP) of unknown environments. C* is built upon the concept of a Rapidly Covering Graph (RCG), which is incrementally constructed during…
Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields,…
Unit disk graphs are intersection graphs of circles of unit radius in the plane. We present simple and provably good heuristics for a number of classical NP-hard optimization problems on unit disk graphs. The problems considered include…
Multi-UAV systems are safety-critical, and guarantees must be made to ensure no unsafe configurations occur. Hamilton-Jacobi (HJ) reachability is ideal for analyzing such safety-critical systems; however, its direct application is limited…
Sequential recommendation has increasingly shifted toward generative recommenders that combine sequential patterns with semantic item information. Yet these methods are often evaluated on a small set of widely used benchmarks, raising a key…
Higher-dimensional orthogonal packing problems have a wide range of practical applications, including packing, cutting, and scheduling. Previous efforts for exact algorithms have been unable to avoid structural problems that appear for…
Selecting the optimal set of countermeasures is a challenging task that involves various considerations and tradeoffs such as prioritizing the risks to mitigate and costs. The vast majority of studies for selecting a countermeasure…
Maritime Inventory Routing Problem (MIRP) plays a crucial role in the integration of global maritime commerce levels. However, there are still no well-established methodologies capable of efficiently solving large MIRP instances or their…
We consider the problem of finding a Hamiltonian path or a Hamiltonian cycle with precedence constraints in the form of a partial order on the vertex set. We show that the path problem is $\mathsf{NP}$-complete for graphs of pathwidth 4…
In 2007, Arkin et al. initiated a systematic study of the complexity of the Hamiltonian cycle problem on square, triangular, or hexagonal grid graphs, restricted to polygonal, thin, superthin, degree-bounded, or solid grid graphs. They…
A common paradigm in classical planning is heuristic forward search. Forward search planners often rely on simple best-first search which remains fixed throughout the search process. In this paper, we introduce a novel search framework…
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 a hamiltonian path completion set of edges such that, when…
Finding the shortest path between two points in a graph is a fundamental problem that has been well-studied over the past several decades. Shortest path algorithms are commonly applied to modern navigation systems, so our study aims to…
We study the design of robust subexponential algorithms for classical connectivity problems on intersection graphs of similarly sized fat objects in $\mathbb{R}^d$. In this setting, each vertex corresponds to a geometric object, and two…
When solving the Hamiltonian path problem it seems natural to be given additional precedence constraints for the order in which the vertices are visited. For example one could decide whether a Hamiltonian path exists for a fixed starting…