相关论文: On Dubins Paths to a Circle
We consider the problem of finding ``dissimilar'' $k$ shortest paths from $s$ to $t$ in an edge-weighted directed graph $D$, where the dissimilarity is measured by the minimum pairwise Hamming distances between these paths. More formally,…
A long series of recent results and breakthroughs have led to faster and better distributed approximation algorithms for single source shortest paths (SSSP) and related problems in the CONGEST model. The runtime of all these algorithms,…
This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…
Utilization of Unmanned Aerial Vehicles (UAVs) in military and civil operations is getting popular. One of the challenges in effectively tasking these expensive vehicles is planning the flight routes to monitor the targets. In this work, we…
Efficient and safe navigation of Unmanned Aerial Vehicles (UAVs) is critical for various applications, including combat support, package delivery and Search and Rescue Operations. This paper introduces the Tangent Intersection Guidance…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…
A shortest-path algorithm finds a path containing the minimal cost between two vertices in a graph. A plethora of shortest-path algorithms is studied in the literature that span across multiple disciplines. This paper presents a survey of…
We study the problem of the Unmanned Aerial Vehicle (UAV) such that a specific set of objects needs to be observed while ensuring a quality of observation. Our goal is to determine the shortest path for the UAV. This paper proposes an…
This paper presents an integrated approach for efficient path planning and energy management in hybrid unmanned aerial vehicles (HUAVs) equipped with dual fuel-electric propulsion systems. These HUAVs operate in environments that include…
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
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…
The on-line shortest path problem is considered under various models of partial monitoring. Given a weighted directed acyclic graph whose edge weights can change in an arbitrary (adversarial) way, a decision maker has to choose in each…
This paper addresses the following task: given a set of patches or areas of varying sizes that are meant to be serviced within a bounding contour calculate a minimal length path plan for an unmanned aerial vehicle (UAV) such that the path…
This paper develops a real-time, search-based aircraft contingency landing planner that minimizes traffic disruptions while accounting for ground risk. The airspace model captures dense air traffic departure and arrival flows, helicopter…
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…
We study augmenting a plane Euclidean network with a segment, called a shortcut, to minimize the largest distance between any two points along the edges of the resulting network. Problems of this type have received considerable attention…
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…
This paper considers the problem of finding a quickest path between two points in the Euclidean plane in the presence of a transportation network. A transportation network consists of a planar network where each road (edge) has an…