Related papers: Benchmarking Classical Coverage Path Planning Heur…
In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently…
Decision diagrams (DDs) have emerged as a state-of-the-art method for exact multiobjective integer linear programming. When the DD is too large to fit into memory or the decision-maker prefers a fast approximation to the Pareto frontier,…
Many hard graph problems, such as Hamiltonian Cycle, become FPT when parameterized by treewidth, a parameter that is bounded only on sparse graphs. When parameterized by the more general parameter clique-width, Hamiltonian Cycle becomes…
Although heuristic search is one of the most successful approaches to classical planning, this planning paradigm does not apply straightforwardly to Generalized Planning (GP). Planning as heuristic search traditionally addresses the…
Although the Laplace approximation offers a simple route to uncertainty quantification in deep neural networks, its reliance on inverting large Hessian matrices has motivated a range of computationally feasible low-dimensional or sparse…
Standard algorithms for finding the shortest path in a graph require that the cost of a path be additive in edge costs, and typically assume that costs are deterministic. We consider the problem of uncertain edge costs, with potential…
In the realm of programmable photonic integrated circuits (PICs), precise wire length control is crucial for the performance of on-chip programmable components such as optical ring resonators, Mach-Zehnder interferometers, and optical true…
Some recent works in conditional planning have proposed reachability heuristics to improve planner scalability, but many lack a formal description of the properties of their distance estimates. To place previous work in context and extend…
Minimizing the number of reshuffling operations at maritime container terminals incorporates the Pre-Marshalling Problem (PMP) as an important problem. Based on an analysis of existing solution approaches we develop new heuristics utilizing…
In recent years, advancements have been made towards the goal of using chaotic coverage path planners for autonomous search and traversal of spaces with limited environmental cues. However, the state of this field is still in its infancy as…
Paths planned over grids can often be suboptimal in an Euclidean space and contain a large number of unnecessary turns. Consequently, researchers have looked into post-processing techniques to improve the paths after they are planned. In…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
We study shortest-path routing in large weighted, undirected graphs, where expanding search frontiers raise time and memory costs for exact solvers. We propose \emph{SPHERE}, a query-aware partitioning heuristic that adaptively splits the…
We introduce a novel quantum computing heuristic for solving the irregular strip packing problem, a significant challenge in optimizing material usage across various industries. This problem involves arranging a set of irregular polygonal…
Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments that violate their assumptions (e.g., tall grass).…
This paper presents a spline-based parameterisation framework for plane graphs. The plane graph is characterised by a collection of curves forming closed loops that fence-off planar faces which have to be parameterised individually. Hereby,…
Provably safe and scalable multi-vehicle path planning is an important and urgent problem due to the expected increase of automation in civilian airspace in the near future. Although this problem has been studied in the past, there has not…
This paper studies a problem of controlling trajectories of a platoon of vehicles on a highway segment with connected and automated vehicles. This problem is complex because each vehicle trajectory is an infinite-dimensional object and…
We consider the problem of matrix completion with graphs as side information depicting the interrelations between variables. The key challenge lies in leveraging the similarity structure of the graph to enhance matrix recovery. Existing…
A graph $G$ covers a graph $H$ if there exists a locally bijective homomorphism from $G$ to $H$. We deal with regular covers where this homomorphism is prescribed by the action of a semiregular subgroup of $\textrm{Aut}(G)$. We study…