相关论文: PHA*: Finding the Shortest Path with A* in An Unkn…

Pathfinding in Euclidean space is a common problem faced in robotics and computer games. For long-distance navigation on the surface of the earth or in outer space however, approximating the geometry as Euclidean can be insufficient for…

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…

Building agents that can explore their environments intelligently is a challenging open problem. In this paper, we make a step towards understanding how a hierarchical design of the agent's policy can affect its exploration capabilities.…

Solving the Multi-Agent Path Finding (MAPF) problem optimally is known to be NP-Hard for both make-span and total arrival time minimization. While many algorithms have been developed to solve MAPF problems, there is no dominating optimal…

In the Multiagent Path Finding problem (MAPF for short), we focus on efficiently finding non-colliding paths for a set of $k$ agents on a given graph $G$, where each agent seeks a path from its source vertex to a target. An important…

Among sub-optimal Multi-Agent Path Finding (MAPF) solvers, rule-based algorithms are particularly appealing since they are complete. Even in crowded scenarios, they allow finding a feasible solution that brings each agent to its target,…

Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…

The environment plays a critical role in multi-agent navigation by imposing spatial constraints, rules, and limitations that agents must navigate around. Traditional approaches treat the environment as fixed, without exploring its impact on…

We study exact, efficient and practical algorithms for route planning in large road networks. Routing applications often require integrating the current traffic situation, planning ahead with traffic predictions for the future, respecting…

We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…

Designing good heuristic functions for graph search requires adequate domain knowledge. It is often easy to design heuristics that perform well and correlate with the underlying true cost-to-go values in certain parts of the search space…

Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…

Multi-agent pathfinding (MAPF) is a challenging problem which is hard to solve optimally even when simplifying assumptions are adopted, e.g. planar graphs (typically -- grids), discretized time, uniform duration of move and wait actions…

Paths generated by A* and other graph-search-based planners are widely used in the robotic field. Due to the restricted node-expansion directions, the resulting paths are usually not the shortest. Besides, unnecessary heading changes, or…

Fleets of autonomous vehicles (AV) often are at the core of intelligent transportation scenarios for smart cities, and may require a wireless Internet connection to offload computer vision tasks to data centers located either in the edge or…

In unstructured environments the best path is not always the shortest, but needs to consider various objectives like energy efficiency, risk of failure or scientific outcome. This paper proposes a global planner, based on the A* algorithm,…

For high level path planning, environments are usually modeled as distance graphs, and path planning problems are reduced to computing the shortest path in distance graphs. One major drawback of this modeling is the inability to model…

Fastest-path queries between two points in a very large road map is an increasingly important primitive in modern transportation and navigation systems, thus very efficient computation of these paths is critical for system performance and…

Modelling realistic human behaviours in simulation is an ongoing challenge that resides between several fields like social sciences, philosophy, and artificial intelligence. Human movement is a special type of behaviour driven by intent…

The solution of the shortest path problem on a surface is not only a theoretical problem to be solved in the field of mathematics, but also problems that need to be solved in very different fields such as medicine, defense and construction…