Related papers: Constructing Optimal Highways
We devise a method to exactly compute the length of the longest simple path in factored state spaces, like state spaces encountered in classical planning. Although the complexity of this problem is NEXP-Hard, we show that our method can be…
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are computationally expensive. A large dense roadmap (graph) can…
This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…
Public transport administrators rely on efficient algorithms for various problems that arise in public transport networks. In particular, our study focused on designing linear-time algorithms for two fundamental path problems: the earliest…
This paper proposes a novel and efficient optimization-based method for generating near time-optimal trajectories for holonomic vehicles navigating through complex but structured environments. The approach aims to solve the problem of…
The quantum speed limit sets the minimum time required to transfer a quantum system completely into a given target state. At shorter times the higher operation speed has to be paid with a loss of fidelity. Here we quantify the trade-off…
Global Route-Planning Algorithms (GRPA) are required to compute paths between several points located on Earth's surface. A geodesic algorithm is employed as an auxiliary tool, increasing the precision of distance calculations. This work…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
This article studies the time-optimal path planning problem for a convexified Reeds-Shepp (CRS) vehicle on a unit sphere, capable of both forward and backward motion, with speed bounded in magnitude by 1 and turning rate bounded in…
Given two locations $s$ and $t$ in a road network, a distance query returns the minimum network distance from $s$ to $t$, while a shortest path query computes the actual route that achieves the minimum distance. These two types of queries…
We study the problem of optimally routing plug-in electric and conventional fuel vehicles on a city level. In our model, commuters selfishly aim to minimize a local cost that combines travel time, from a fixed origin to a desired…
Travel time prediction is central to transport geography and planning's accessibility analyses, sustainable transportation infrastructure provision, and active transportation interventions. However, calculating accurate travel times,…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
Let $R$ and $B$ be two point sets in $\mathbb{R}^d$, with $|R|+ |B| = n$ and where $d$ is a constant. Next, let $\lambda : R \cup B \to \mathbb{N}$ such that $\sum_{r \in R } \lambda(r) = \sum_{b \in B} \lambda(b)$ be demand functions over…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…
We study the problem of generating a hyperplane tessellation of an arbitrary set $T$ in $\mathbb{R}^n$, ensuring that the Euclidean distance between any two points corresponds to the fraction of hyperplanes separating them up to a…
This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…
The ubiquitous expansion and transformation of the energy supply system involves large-scale power infrastructure construction projects. In the view of investments of more than a million dollars per kilometre, planning authorities aim to…
Avoiding congestion and controlling traffic in urban scenarios is becoming nowadays of paramount importance due to the rapid growth of our cities' population and vehicles. The effective control of urban traffic as a means to mitigate…
The increased availability of large-scale trajectory data around the world provides rich information for the study of urban dynamics. For example, New York City Taxi Limousine Commission regularly releases source-destination information…