相关论文: Theta*: Any-Angle Path Planning on Grids

Traffic Engineering (TE) in large-scale networks like cloud Wide Area Networks (WANs) and Low Earth Orbit (LEO) satellite constellations is a critical challenge. Although learning-based approaches have been proposed to address the…

Finding shortest paths in a graph is relevant for numerous problems in computer vision and graphics, including image segmentation, shape matching, or the computation of geodesic distances on discrete surfaces. Traditionally, the concept of…

We present algorithms that extend the path-based hierarchical drawing framework and give experimental results. Our algorithms run in $O(km)$ time, where $k$ is the number of paths and $m$ is the number of edges of the graph, and provide…

The aspect ratio of a (positively) weighted graph $G$ is the ratio of its maximum edge weight to its minimum edge weight. Aspect ratio commonly arises as a complexity measure in graph algorithms, especially related to the computation of…

This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…

We consider the worst-case query complexity of some variants of certain \cl{PPAD}-complete search problems. Suppose we are given a graph $G$ and a vertex $s \in V(G)$. We denote the directed graph obtained from $G$ by directing all edges in…

In this paper we study the strengths and limitations of collaborative teams of simple agents. In particular, we discuss the efficient use of "ant robots" for covering a connected region on the Z^{2} grid, whose area is unknown in advance,…

Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…

Given an undirected graph $G=(V,E)$ with positive edge lengths and two vertices $s$ and $t$, the next-to-shortest path problem is to find an $st$-path which length is minimum amongst all $st$-paths strictly longer than the shortest path…

As large graph datasets become increasingly common across many fields, sampling is often needed to reduce the graphs into manageable sizes. This procedure raises critical questions about representativeness as no sample can capture the…

Path planning algorithms, such as the search-based A*, are a critical component of autonomous mobile robotics, enabling robots to navigate from a starting point to a destination efficiently and safely. We investigated the resilience of the…

Vehicle arrival time prediction has been studied widely. With the emergence of IoT devices and deep learning techniques, estimated time of arrival (ETA) has become a critical component in intelligent transportation systems. Though many…

Optimal paths connecting randomly selected network nodes and fixed routers are studied analytically in the presence of non-linear overlap cost that penalizes congestion. Routing becomes increasingly more difficult as the number of selected…

We address the path planning problem for a team of robots satisfying a complex high-level mission specification given in the form of an Linear Temporal Logic (LTL) formula. The state-of-the-art approach to this problem employs the…

Graph are a ubiquitous data representation, as they represent a flexible and compact representation. For instance, the 3D structure of RNA can be efficiently represented as $\textit{2.5D graphs}$, graphs whose nodes are nucleotides and…

A drawback of the classic approach for complexity analysis of distributed graph problems is that it mostly informs about the complexity of notorious classes of ``worst case'' graphs. Algorithms that are used to prove a tight (existential)…

Shortest paths in complex networks play key roles in many applications. Examples include routing packets in a computer network, routing traffic on a transportation network, and inferring semantic distances between concepts on the World Wide…

A geometric graph in the plane is angle-monotone of width $\gamma$ if every pair of vertices is connected by an angle-monotone path of width $\gamma$, a path such that the angles of any two edges in the path differ by at most $\gamma$.…

Expanders are powerful algorithmic structures with two key properties: they are a) routable: for any multi-commodity flow unit demand, there exists a routing with low congestion over short paths, where a demand is unit if the amount of…

Graph transformer networks (GTN) are a variant of graph convolutional networks (GCN) that are targeted to heterogeneous graphs in which nodes and edges have associated type information that can be exploited to improve inference accuracy.…