相关论文: Characterization and Computation of Feasible Traje…
We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…
We study the linearizability monitoring problem, which asks whether a given concurrent history of a data structure is equivalent to some sequential execution of the same data structure. In general, this problem is $\textsf{NP}$-hard, even…
Let $S$ and $D$ each be a set of orthogonal line segments in the plane. A line segment $s\in S$ \emph{stabs} a line segment $s'\in D$ if $s\cap s'\neq\emptyset$. It is known that the problem of stabbing the line segments in $D$ with the…
We study approximate distributed solutions to the weighted {\it all-pairs-shortest-paths} (APSP) problem in the CONGEST model. We obtain the following results. $1.$ A deterministic $(1+o(1))$-approximation to APSP in $\tilde{O}(n)$ rounds.…
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
This paper defines constrained functional similarity between 2-D trajectories via minimizing the H1 semi-norm of the difference between the trajectories. An exact general solution is obtained for the case wherein the components of the…
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We consider the rooted orienteering problem in Euclidean space: Given $n$ points $P$ in $\mathbb R^d$, a root point $s\in P$ and a budget $\mathcal B>0$, find a path that starts from $s$, has total length at most $\mathcal B$, and visits as…
While several classes of integer linear optimization problems are known to be solvable in polynomial time, far fewer tractability results exist for integer nonlinear optimization. In this work, we narrow this gap by identifying a broad…
Tree rotations (left and right) are basic local deformations allowing to transform between two unlabeled binary trees of the same size. Hence, there is a natural problem of practically finding such transformation path with low number of…
Calculating the diameter of an undirected graph requires quadratic running time under the Strong Exponential Time Hypothesis and this barrier works even against any approximation better than 3/2. For planar graphs with positive edge…
To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while creating the next plan. However, creating safe,…
Nowadays, various sensors are collecting, storing and transmitting tremendous trajectory data, and it is known that raw trajectory data seriously wastes the storage, network band and computing resource. Line simplification (LS) algorithms…
An orientable sequence of order $n$ is a cyclic binary sequence such that each length-$n$ substring appears at most once \emph{in either direction}. Maximal length orientable sequences are known only for $n\leq 7$, and a trivial upper bound…
The Finite Fourier Series (FFS) Shape-Based (SB) trajectory approximation method has been used to rapidly generate initial trajectories that satisfy the dynamics, trajectory boundary conditions, and limitation on maximum thrust…
The regularization path of the Lasso can be shown to be piecewise linear, making it possible to "follow" and explicitly compute the entire path. We analyze in this paper this popular strategy, and prove that its worst case complexity is…
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We…
Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to complete. However for…
We show tight lower bounds for the entire trade-off between space and query time for the Approximate Near Neighbor search problem. Our lower bounds hold in a restricted model of computation, which captures all hashing-based approaches. In…