相关论文: Theta*: Any-Angle Path Planning on Grids
In this work, we introduce a new graph search algorithm, lazy edged based A* (LEA*), for robot motion planning. By using an edge queue and exploiting the idea of lazy search, LEA* is optimally vertex efficient similar to A*, and has…
Propagation modeling is a crucial tool for successful wireless deployments and spectrum planning with the demand for high modeling accuracy continuing to grow. Recognizing that detailed knowledge of the physical environment (terrain and…
In several important routing contexts it is required to identify a set of routes, each of which optimizes a different criterion. For instance, in the context of vehicle routing, one route would minimize the total distance traveled, while…
We are interested in embedding trees T with maximum degree at most four in a rectangular grid, such that the vertices of T correspond to grid points, while edges of T correspond to non-intersecting straight segments of the grid lines. Such…
Computing a (short) path between two vertices is one of the most fundamental primitives in graph algorithmics. In recent years, the study of paths in temporal graphs, that is, graphs where the vertex set is fixed but the edge set changes…
We present Neural A*, a novel data-driven search method for path planning problems. Despite the recent increasing attention to data-driven path planning, machine learning approaches to search-based planning are still challenging due to the…
The search is based on the preliminary transformation of matrices or adjacency lists traditionally used in the study of graphs into projections cleared of redundant information (refined) followed by the selection of the desired shortest…
We present a novel algorithm that fuses the existing convex-programming based approach with heuristic information to find optimality guarantees and near-optimal paths for the Shortest Path Problem in the Graph of Convex Sets (SPP-GCS). Our…
Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the predefined threshold, is considered in the paper. This problem…
We study stochastic graph optimization problems in a novel distributed setting. As in the standard centralized setting, a random subgraph $G^*$ of a known base graph $G$ is realized by including each edge $e$ independently with a known…
Grid mapping is a fundamental approach to modeling the environment of intelligent vehicles or robots. Compared with object-based environment modeling, grid maps offer the distinct advantage of representing the environment without requiring…
Finding shortest paths in a given network (e.g., a computer network or a road network) is a well-studied task with many applications. We consider this task under the presence of an adversary, who can manipulate the network by perturbing its…
The performance of search algorithms for grid-based pathfinding, e.g. A*, critically depends on the heuristic function that is used to focus the search. Recent studies have shown that informed heuristics that take the positions/shapes of…
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…
Urban rail transit is a fundamental component of public transportation, however, commonly station-based path search algorithms often overlook the impact of transfer times on search results, leading to decreased accuracy. To solve this…
Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant of this classical problem in which the position of each…
Conventional local planners frequently become trapped in a locally optimal trajectory, primarily due to their inability to traverse obstacles. Having a larger number of topologically distinctive paths increases the likelihood of finding the…
In the age of real-time online traffic information and GPS-enabled devices, fastest-path computations between two points in a road network modeled as a directed graph, where each directed edge is weighted by a "travel time" value, are…
We present a routing algorithm for the directed $\Theta_4$-graph, here denoted as the $\overrightarrow{\Theta_4}}$-graph, that computes a path between any two vertices $s$ and $t$ having length at most $17$ times the Euclidean distance…
We study efficient and exact shortest path algorithms for routing on road networks with realistic traffic data. For navigation applications, both current (i.e., live) traffic events and predictions of future traffic flows play an important…