相关论文: Dynamic Scope-Based Dijkstra's Algorithm

We present Smac Planner, an openly available, search-based planning framework that addresses the critical need for kinematically feasible path planning across diverse robot platforms. Smac Planner provides high-performance implementations…

In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…

Different methods are used for a mobile robot to go to a specific target location. These methods work in different ways for online and offline scenarios. In the offline scenario, an environment map is created once, and fixed path planning…

Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…

Recently the dynamic distance potential field (DDPF) was introduced as a computationally efficient method to make agents in a simulation of pedestrians move rather on the quickest path than the shortest. It can be considered to be an…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

The k Nearest Neighbor (kNN) query over moving objects on road networks is essential for location-based services. Recently, this problem has been studied under road networks with distance as the metric, overlooking fluctuating travel costs.…

Real-world networks are composed of diverse interacting and evolving entities, while most of existing researches simply characterize them as particular static networks, without consideration of the evolution trend in dynamic networks.…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…

Communication networks have evolved from specialized, research and tactical transmission systems to large-scale and highly complex interconnections of intelligent devices, increasingly becoming more commercial, consumer-oriented, and…

Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…

The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…

This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environments. They do this by accounting for the motion of the robot…

We present an algorithm that, given a representation of a road network in lane-level detail, computes a route that minimizes the expected cost to reach a given destination. In doing so, our algorithm allows us to solve for the complex…

The topologies of predictable dynamic networks are continuously dynamic in terms of node position, network connectivity and link metric. However, their dynamics are almost predictable compared with the ad-hoc network. The existing routing…

Dijkstra's algorithm is one of the most popular classic path planning algorithms, achieving optimal solutions across a wide range of challenging tasks. However, it only calculates the shortest distance from one vertex to another, which is…

In this paper we introduce the concept of generalized d-graph (admitting cycles) as special dependency-graphs for modelling dynamic programming (DP) problems. We describe the d-graph versions of three famous single-source shortest…

In dynamic vehicle routing problems (DVRPs), some part of the information is revealed or changed on the fly, and the decision maker has the opportunity to re-plan the vehicle routes during their execution, reflecting on the changes.…

Given the variety of the visual world there is not one true scale for recognition: objects may appear at drastically different sizes across the visual field. Rather than enumerate variations across filter channels or pyramid levels, dynamic…

Modeling and simulation of pedestrian behavior is used in applications such as planning large buildings, disaster management, or urban planning. Realistically simulating pedestrian behavior is challenging, due to the complexity of…