相关论文: Improved Algorithms for the Evacuation Route Plann…

For many algorithmic problems, traditional algorithms that optimise on the number of instructions executed prove expensive on I/Os. Novel and very different design techniques, when applied to these problems, can produce algorithms that are…

A prototype tool to assist architects during the early design stage of floor plans has been developed, consisting of an Evolutionary Program for the Space Allocation Problem (EPSAP), which generates sets of floor plan alternatives according…

Structure fires are responsible for the majority of fire-related deaths nationwide. In order to assist with the rapid evacuation of trapped people, this paper proposes the use of a system that determines optimal search paths for…

Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…

We develop a novel formulation of the Performance Estimation Problem (PEP) for decentralized optimization whose size is independent of the number of agents in the network. The PEP approach allows computing automatically the worst-case…

Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…

In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…

Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on frequent global optimization, suffering from high computational…

In this study, we present a simple and intuitive method for accelerating optimal Reeds-Shepp path computation. Our approach uses geometrical reasoning to analyze the behavior of optimal paths, resulting in a new partitioning of the state…

Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…

Distributed optimization for resource allocation problems is investigated and a sub-optimal continuous-time algorithm is proposed. Our algorithm has lower order dynamics than others to reduce burdens of computation and communication, and is…

We propose a novel algorithm to solve multi-robot motion planning (MRMP) rapidly, called Simultaneous Sampling-and-Search Planning (SSSP). Conventional MRMP studies mostly take the form of two-phase planning that constructs roadmaps and…

We consider evacuation of a group of $n \geq 2$ autonomous mobile agents (or robots) from an unknown exit on an infinite line. The agents are initially placed at the origin of the line and can move with any speed up to the maximum speed $1$…

The refugee crisis is perhaps the single most challenging problem for Europe today. Hundreds of thousands of people have already traveled across dangerous sea passages from Turkish shores to Greek islands, resulting in thousands of dead and…

Emergency Response Management (ERM) is a critical problem faced by communities across the globe. Despite this, it is common for ERM systems to follow myopic decision policies in the real world. Principled approaches to aid ERM…

We study the problem of quickly computing point-to-point shortest paths in massive road networks with traffic predictions. Incorporating traffic predictions into routing allows, for example, to avoid commuter traffic congestions. Existing…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

In this paper, I present an algorithm called Raffica algorithm for Single-Source Shortest Path(SSSP). On random graph, this algorithm has linear time complexity(in expect). More precisely, the random graph uses configuration model, and the…

We present a graph sampling and coarsening scheme (gSC) for computing lower and upper bounds for large-scale supply chain models. An edge sampling scheme is used to build a low-complexity problem that is used to finding an approximate (but…

Emergency preparedness reduces the severity and impact of major disasters. In the case of earthquakes, a rapid and efficient emergency response is essential to reduce the number of fatalities. Therefore, the design and planning of an…