相关论文: Computing Plan-Length Bounds Using Lengths of Long…

Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…

The challenge of mapping indoor environments is addressed. Typical heuristic algorithms for solving the motion planning problem are frontier-based methods, that are especially effective when the environment is completely unknown. However,…

In this paper we consider discrete robot path planning problems on metric graphs. We propose a clustering method, Gamma-Clustering for the planning graph that significantly reduces the number of feasible solutions, yet retains a solution…

We consider the problem of succinctly encoding a static map to support approximate queries. We derive upper and lower bounds on the space requirements in terms of the error rate and the entropy of the distribution of values over keys: our…

In multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we focus on finding suboptimal solutions for MAPF for the sum-of-costs variant. Recently, a SAT-based approached was developed…

This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…

Classical planning asks for a sequence of operators reaching a given goal. While the most common case is to compute a plan, many scenarios require more than that. However, quantitative reasoning on the plan space remains mostly unexplored.…

This article is devoted to propose some lower and upper bounds for the coupled-tasks scheduling problem in presence of compatibility constraints according to classical complexity hypothesis ($\mathcal{P} \neq \mathcal{NP}$,…

We derive an upper bound on the number of models for exact satisfiability (XSAT) of arbitrary CNF formulas F. The bound can be calculated solely from the distribution of positive and negated literals in the formula. For certain subsets of…

Physical design problems, such as photonic inverse design, are typically solved using local optimization methods. These methods often produce what appear to be good or very good designs when compared to classical design methods, but it is…

For any quantity of interest in a system governed by ordinary differential equations, it is natural to seek the largest (or smallest) long-time average among solution trajectories, as well as the extremal trajectories themselves. Upper…

Finding shortest paths in a given network (e.g., a computer network or a road network) is a well-studied task with many applications. We consider this task under the presence of an adversary, who can manipulate the network by perturbing its…

Semi-infinite programs are a class of mathematical optimization problems with a finite number of decision variables and infinite constraints. As shown by Blankenship and Falk (Blankenship and Falk. "Infinitely constrained optimization…

We consider a Multi-Agent Path Finding (MAPF) setting where agents have been assigned a plan, but during its execution some agents are delayed. Instead of replanning from scratch when such a delay occurs, we propose delay introduction,…

We propose a meta path planning algorithm named \emph{Neural Exploration-Exploitation Trees~(NEXT)} for learning from prior experience for solving new path planning problems in high dimensional continuous state and action spaces. Compared…

With the impact of real-time processing being realized in the recent past, the need for efficient implementations of reinforcement learning algorithms has been on the rise. Albeit the numerous advantages of Bellman equations utilized in RL…

We illustrate how computer-aided methods can be used to investigate the fundamental limits of the caching systems, which are significantly different from the conventional analytical approach usually seen in the information theory…

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…

A covering path for a finite set $P$ of points in the plane is a polygonal path such that every point of $P$ lies on a segment of the path. The vertices of the path need not be at points of $P$. A covering path is plane if its segments do…

This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems. The approach is motivated by first showing that a lattice-based path planner can be…