相关论文: Characterization and Computation of Feasible Traje…
In this paper, we present approximate distance and shortest-path oracles for fault-tolerant Euclidean spanners motivated by the routing problem in real-world road networks. An $f$-fault-tolerant Euclidean $t$-spanner for a set $V$ of $n$…
We consider the problem of finding an optimal piecewise linear path (polygonal line) connecting two given points with the possibility of making n turns at some points (the absolute value of each turn angle does not exceed a prescribed…
Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
Acoustic levitation has recently demonstrated the ability to create volumetric content by trapping and quickly moving particles along reference paths to reveal shapes in mid-air. However, the problem of specifying physically feasible trap…
In this paper, a new demonstration-based path-planning framework for the visual inspection of large structures using UAVs is proposed. We introduce UPPLIED: UAV Path PLanning for InspEction through Demonstration, which utilizes a…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
Emerging applications in Printed Circuit Board (PCB) routing impose new challenges on automatic length matching, including adaptability for any-direction traces with their original routing preserved for interactiveness. The challenges can…
This paper describes an efficient approach to constructing a resultant polyline with a minimum number of segments and arcs. While fitting an arc can be done with complexity O(1) (see [1] and [2]), the main complexity is in checking that the…
We present an algorithm that computes a shortest non-contractible and a shortest non-separating cycle on an orientable combinatorial surface of bounded genus in O(n \log n) time, where n denotes the complexity of the surface. This solves a…
Using the 20 questions estimation framework with query-dependent noise, we study non-adaptive search strategies for a moving target over the unit cube with unknown initial location and velocities under a piecewise constant velocity model.…
We study piecewise affine policies for multi-stage adjustable robust optimization (ARO) problems with non-negative right-hand side uncertainty. First, we construct new dominating uncertainty sets and show how a multi-stage ARO problem can…
We study a path-planning problem amid a set $\mathcal{O}$ of obstacles in $\mathbb{R}^2$, in which we wish to compute a short path between two points while also maintaining a high clearance from $\mathcal{O}$; the clearance of a point is…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based trajectory planner targeting low-speed maneuvers in unstructured…
We introduce the Observation Route Problem ($\textsf{ORP}$) defined as follows: Given a set of $n$ pairwise disjoint compact regions in the plane, find a shortest tour (route) such that an observer walking along this tour can see (observe)…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Given an undirected weighted graph, an (approximate) distance oracle is a data structure that can (approximately) answer distance queries. A {\em Path-Reporting Distance Oracle}, or {\em PRDO}, is a distance oracle that must also return a…
We consider the problem of finding minimum-link rectilinear paths in rectilinear polygonal domains in the plane. A path or a polygon is rectilinear if all its edges are axis-parallel. Given a set $\mathcal{P}$ of $h$ pairwise-disjoint…
We present a semi-infinite program (SIP) solver for trajectory optimizations of general articulated robots. These problems are more challenging than standard Nonlinear Program (NLP) by involving an infinite number of non-convex, collision…