相关论文: Shortest Dubins Path to a Circle

The subpath planning problem is a branch of the path planning problem, which has widespread applications in automated manufacturing process as well as vehicle and robot navigation. This problem is to find the shortest path or tour subject…

Numerical computation of shortest paths or geodesics on curved domains, as well as the associated geodesic distance, arises in a broad range of applications across digital geometry processing, scientific computing, computer graphics, and…

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…

In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…

Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…

Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…

The $k$ disjoint shortest paths problem ($k$-DSPP) on a graph with $k$ source-sink pairs $(s_i, t_i)$ asks for the existence of $k$ pairwise edge- or vertex-disjoint shortest $s_i$-$t_i$-paths. It is known to be NP-complete if $k$ is part…

When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…

Safety is extremely important for urban flights of autonomous Unmanned Aerial Vehicles (UAVs). Risk-aware path planning is one of the most effective methods to guarantee the safety of UAVs. This type of planning can be represented as a…

We study the motion-planning problem for a car-like robot whose turning radius is bounded from below by one and which is allowed to move in the forward direction only (Dubins car). For two robot configurations $\sigma, \sigma'$, let…

The Single-Source Shortest Path (SSSP) problem is well-known for the challenges in developing fast, practical, and work-efficient parallel algorithms. This work introduces a novel shortest path search method. It allows paths with different…

The shortest path (SP) and shortest paths tree (SPT) problems arise both as direct applications and as subroutines of overlay algorithms solving more complex problems such as the constrained shortest path (CSP) or the constrained minimum…

In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…

We introduce a new route-finding problem which considers perception and travel costs simultaneously. Specifically, we consider the problem of finding the shortest tour such that all objects of interest can be detected successfully. To…

The classic Resource Constrained Shortest Path (RCSP) problem aims to find a cost optimal path between a pair of nodes in a network such that the resources used in the path are within a given limit. Having been studied for over a decade,…

In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…

This paper reports about the development of two provably correct approximate algorithms which calculate the Euclidean shortest path (ESP) within a given cube-curve with arbitrary accuracy, defined by $\epsilon >0$, and in time complexity…

We revisit the problem of motion planning in the Gaussian belief space. Motivated by the fact that most existing sampling-based planners suffer from high computational costs due to the high-dimensional nature of the problem, we propose an…

We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…

The purpose of this work is to introduce and characterize the Bounded Acceleration Shortest Path (BASP) problem, a generalization of the Shortest Path (SP) problem. This problem is associated to a graph: the nodes represent positions of a…