相关论文: Lifted Disjoint Paths with Application in Multiple…
A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…
The constrained path optimization (CPO) problem takes the following input: (a) a road network represented as a directed graph, where each edge is associated with a "cost" and a "score" value; (b) a source-destination pair and; (c) a budget…
We consider the problem of consistently matching multiple sets of elements to each other, which is a common task in fields such as computer vision. To solve the underlying NP-hard objective, existing methods often relax or approximate it,…
This paper presents a new method for finding the node-disjoint paths with maximum combined bandwidth in communication networks. This problem is an NP-complete problem which can be optimally solved in exponential time using integer linear…
We state a combinatorial optimization problem whose feasible solutions define both a decomposition and a node labeling of a given graph. This problem offers a common mathematical abstraction of seemingly unrelated computer vision tasks,…
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…
Most modern multiple object tracking (MOT) systems follow the tracking-by-detection paradigm, consisting of a detector followed by a method for associating detections into tracks. There is a long history in tracking of combining motion and…
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…
Data association across frames is at the core of Multiple Object Tracking (MOT) task. This problem is usually solved by a traditional graph-based optimization or directly learned via deep learning. Despite their popularity, we find some…
Formulating the multi object tracking problem as a network flow optimization problem is a popular choice. In this paper an efficient way of learning the weights of such a network is presented. It separates the problem into one embedding of…
In multistage perfect matching problems we are given a sequence of graphs on the same vertex set and asked to find a sequence of perfect matchings, corresponding to the sequence of graphs, such that consecutive matchings are as similar as…
We study the inapproximability of the induced disjoint paths problem on an arbitrary $n$-node $m$-edge undirected graph, which is to connect the maximum number of the $k$ source-sink pairs given in the graph via induced disjoint paths. It…
In the Disjoint Paths problem, one is given a graph with a set of $k$ vertex pairs $(s_i,t_i)$ and the task is to connect each $s_i$ to $t_i$ with a path, so that the $k$ paths are pairwise disjoint. In the optimization variant, Max…
We consider the problem of decomposing a given (di)graph into paths of length 2 with the additional restriction that no two such paths may have more than one vertex in common. We establish its NP-hardness by a reduction from 3-SAT,…
In this paper we show how to combine two algorithmic techniques to obtain linear time algorithms for various optimization problems on graphs, and present a subroutine which will be useful in doing so. The first technique is iterative…
Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks. In this article, we are interested in developing incremental graph search algorithms for path…
In this paper, we study the \textsf{Planar Disjoint Paths} problem: Given an undirected planar graph $G$ with $n$ vertices and a set $T$ of $k$ pairs $(s_i,t_i)_{i=1}^k$ of vertices, the goal is to find a set $\mathcal P$ of $k$ pairwise…
In this paper, we aim at improving the tracking of road users in urban scenes. We present a constraint programming (CP) approach for the data association phase found in the tracking-by-detection paradigm of the multiple object tracking…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
The well-known Disjoint Paths problem is to decide if a graph contains k pairwise disjoint paths, each connecting a different terminal pair from a set of k distinct pairs. We determine, with an exception of two cases, the complexity of the…