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

We consider the Shortest Odd Path problem, where given an undirected graph $G$, a weight function on its edges, and two vertices $s$ and $t$ in $G$, the aim is to find an $(s,t)$-path with odd length and, among all such paths, of minimum…

Decision Tree (DT) Learning is a fundamental problem in Interpretable Machine Learning, yet it poses a formidable optimisation challenge. Practical algorithms have recently emerged, primarily leveraging Dynamic Programming and Branch &…

Let $P$ be a set of $n$ vertices in the plane and $S$ a set of non-crossing line segments between vertices in $P$, called constraints. Two vertices are visible if the straight line segment connecting them does not properly intersect any…

A classic 1993 paper by Alth\H{o}fer et al. proved a tight reduction from spanners, emulators, and distance oracles to the extremal function $\gamma$ of high-girth graphs. This paper initiated a large body of work in network design, in…

The parametric shortest path problem is to find the shortest paths in graph where the edge costs are of the form w_ij+lambda where each w_ij is constant and lambda is a parameter that varies. The problem is to find shortest path trees for…

Path finding in graphs is one of the most studied classes of problems in computer science. In this context, search algorithms are often extended with heuristics for a more efficient search of target nodes. In this work we combine recent…

Optimal path planning requires finding a series of feasible states from the starting point to the goal to optimize objectives. Popular path planning algorithms, such as Effort Informed Trees (EIT*), employ effort heuristics to guide the…

In this work, we propose a novel adaptive grid mapping approach, the Adaptive Patched Grid Map, which enables a situational aware grid based perception for autonomous vehicles. Its structure allows a flexible representation of the…

Sampling-based planning algorithms like Rapidly-exploring Random Tree (RRT) are versatile in solving path planning problems. RRT* offers asymptotic optimality but requires growing the tree uniformly over the free space, which leaves room…

Streaming applications from algorithmic trading to traffic management deploy Kleene patterns to detect and aggregate arbitrarily-long event sequences, called event trends. State-of-the-art systems process such queries in two steps. Namely,…

Paths are important structural elements in complex networks because they are finite (unlike walks), related to effective node coverage (minimum spanning trees), and can be understood as being dual to star connectivity. This article…

For a graph $G$, an edge-separating (resp. vertex-separating) path system of $G$ is a family of paths in $G$ such that for any pair of edges $e_1, e_2$ (resp. pair of vertices $v_1, v_2$) of $G$ there is at least one path in the family that…

One abstract method for the study of network transportation is proposed in this paper. By interpolating the properties of the edges that constitute network into the two leading parameters of the nodes, this method can abstract the…

We study separating systems of the edges of a graph where each member of the separating system is a path. We conjecture that every $n$-vertex graph admits a separating path system of size $O(n)$ and prove this in certain interesting special…

Learning-based methods for routing have gained significant attention in recent years, both in single-objective and multi-objective contexts. Yet, existing methods are unsuitable for routing on multigraphs, which feature multiple edges with…

We continue the study of $\delta$-dispersion, a continuous facility location problem on a graph where all edges have unit length and where the facilities may also be positioned in the interior of the edges. The goal is to position as many…

The rapid growth of Internet paths in heterogeneity, scale, and dynamics has made existing emulators increasingly insufficient in flexibility, scalability, and usability. To address these limitations, we present Rattan, an extensible and…

This paper presents the FS-Planner, a fast graph-search planner based on a modified Lazy Theta* algorithm that exploits the analytical properties of Euclidean Distance Fields (EDFs). We introduce a new cost function that integrates an…

Delay Tolerant Networking (DTN) aims to address a myriad of significant networking challenges that appear in time-varying settings, such as mobile and satellite networks, wherein changes in network topology are frequent and often subject to…

The traditional complex network approach considers only the shortest paths from one node to another, not taking into account several other possible paths. This limitation is significant, for example, in urban mobility studies. In this short…