相关论文: Detours in Scope-Based Route Planning

Given an undirected graph G, the edge orientation problem asks for assigning a direction to each edge to convert G into a directed graph. The aim is to minimize the maximum out degree of a vertex in the resulting directed graph. This…

We study a problem of fundamental importance to ICNs, namely, minimizing routing costs by jointly optimizing caching and routing decisions over an arbitrary network topology. We consider both source routing and hop-by-hop routing settings.…

In recent years, end-to-end autonomous driving has attracted increasing attention for its ability to jointly model perception, prediction, and planning within a unified framework. However, most existing approaches underutilize the online…

A (fully) dynamic graph algorithm is a data structure that supports edge insertions, edge deletions, and answers certain queries that are specific to the problem under consideration. There has been a lot of research on dynamic algorithms…

Real-world networks are neither regular nor random, a fact elegantly explained by mechanisms such as the Watts-Strogatz or the Barabasi-Albert models, among others. Both mechanisms naturally create shortcuts and hubs, which while enhancing…

The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…

Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…

There has been tremendous progress in algorithmic methods for computing driving directions on road networks. Most of that work focuses on time-independent route planning, where it is assumed that the cost on each arc is constant per query.…

Forecasting and decision-making are generally modeled as two sequential steps with no feedback, following an open-loop approach. In this paper, we present application-driven learning, a new closed-loop framework in which the processes of…

This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…

This paper introduces GODDeS: a fully distributed self-organizing decision-theoretic routing algorithm designed to effectively exploit high quality paths in lossy ad-hoc wireless environments, typically with a large number of nodes. The…

Balancing traffic flow by influencing drivers' route choices to alleviate congestion is becoming increasingly more appealing in urban traffic planning. Here, we introduce a discrete dynamical model comprising users who make their own…

Service providers employ different transport technologies like PDH, SDH/SONET, OTN, DWDM, Ethernet, MPLS-TP etc. to support different types of traffic and service requirements. Dynamic service provisioning requires the use of on-line…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

We consider optimal transport based distributionally robust optimization (DRO) problems with locally strongly convex transport cost functions and affine decision rules. Under conventional convexity assumptions on the underlying loss…

We consider the problem of distributed attitude estimation of multi-agent systems, evolving on $SO(3)$, relying on individual angular velocity and relative attitude measurements. The interaction graph topology is assumed to be an undirected…

We study the strategic decision-making problem of assigning time windows to customers in the context of vehicle routing applications that are affected by operational uncertainty. This problem, known as the Time Window Assignment Vehicle…

Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…

The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…