相关论文: A Fast and Tight Heuristic for A* in Road Networks

In the age of real-time online traffic information and GPS-enabled devices, fastest-path computations between two points in a road network modeled as a directed graph, where each directed edge is weighted by a "travel time" value, are…

Finding the shortest path between two points in a graph is a fundamental problem that has been well-studied over the past several decades. Shortest path algorithms are commonly applied to modern navigation systems, so our study aims to…

We study efficient and exact shortest path algorithms for routing on road networks with realistic traffic data. For navigation applications, both current (i.e., live) traffic events and predictions of future traffic flows play an important…

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…

Fastest-path queries between two points in a very large road map is an increasingly important primitive in modern transportation and navigation systems, thus very efficient computation of these paths is critical for system performance and…

The A* algorithm is commonly used to solve NP-hard combinatorial optimization problems. When provided with a completely informed heuristic function, A* solves many NP-hard minimum-cost path problems in time polynomial in the branching…

This paper introduces a novel approach to urban pathfinding by transforming traditional heuristic-based algorithms into deep learning models that leverage real-time contextual data, such as traffic and weather conditions. We propose two…

Motion planning is the core problem to solve for developing any application involving an autonomous mobile robot. The fundamental motion planning problem involves generating a trajectory for a robot for point-to-point navigation while…

We present a new heuristic point-to-point routing algorithm based on contraction hierarchies (CH). Given an epsilon >= 0, we can prove that the length of the path computed by our algorithm is at most (1+epsilon) times the length of the…

A* is a classic and popular method for graphs search and path finding. It assumes the existence of a heuristic function $h(u,t)$ that estimates the shortest distance from any input node $u$ to the destination $t$. Traditionally, heuristics…

Efficiently computing fast paths in large scale dynamic road networks (where dynamic traffic information is known over a part of the network) is a practical problem faced by several traffic information service providers who wish to offer a…

A* is a popular path-finding algorithm, but it can only be applied to those domains where a good heuristic function is known. Inspired by recent methods combining Deep Neural Networks (DNNs) and trees, this study demonstrates how to train a…

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…

In unstructured environments like parking lots or construction sites, due to the large search-space and kinodynamic constraints of the vehicle, it is challenging to achieve real-time planning. Several state-of-the-art planners utilize…

We introduce a new heuristic for the A* algorithm that references a data structure much smaller than the one required by the ALT heuristic. This heuristic's benefits are permitted by a new approach for computing lower bounds using…

Efficiently solving problems with large action spaces using A* search remains a significant challenge. This is because, for each iteration of A* search, the number of nodes generated and the number of heuristic function applications grow…

Personalized Route Recommendation (PRR) aims to generate user-specific route suggestions in response to users' route queries. Early studies cast the PRR task as a pathfinding problem on graphs, and adopt adapted search algorithms by…

Dijkstra's algorithm is the standard method for computing shortest paths on arbitrary graphs. However, it is slow for large graphs, taking at least linear time. It has been long known that for real world road networks, creating a hierarchy…

Heuristic search-based motion planning algorithms typically discretise the search space in order to solve the shortest path problem. Their performance is closely related to this discretisation. A fine discretisation allows for better…

We introduce a new heuristic for the A* algorithm that references a data structure significantly smaller than that of ALT. We characterize the behavior of this new heuristic based on a dual landmark configuration that leverages…