Learning Obstacle-Avoiding Lattice Paths using Swarm Heuristics: Exploring the Bijection to Ordered Trees
Robotics
2022-09-13 v1 Artificial Intelligence
Discrete Mathematics
Neural and Evolutionary Computing
Abstract
Lattice paths are functional entities that model efficient navigation in discrete/grid maps. This paper presents a new scheme to generate collision-free lattice paths with utmost efficiency using the bijective property to rooted ordered trees, rendering a one-dimensional search problem. Our computational studies using ten state-of-the-art and relevant nature-inspired swarm heuristics in navigation scenarios with obstacles with convex and non-convex geometry show the practical feasibility and efficiency in rendering collision-free lattice paths. We believe our scheme may find use in devising fast algorithms for planning and combinatorial optimization in discrete maps.
Keywords
Cite
@article{arxiv.2209.05187,
title = {Learning Obstacle-Avoiding Lattice Paths using Swarm Heuristics: Exploring the Bijection to Ordered Trees},
author = {Victor Parque},
journal= {arXiv preprint arXiv:2209.05187},
year = {2022}
}
Comments
2022 IEEE Congress on Evolutionary Computation (CEC)