相关论文: Characterization and Computation of Feasible Traje…

We study the problem of planning paths for $p$ distinguishable pebbles (robots) residing on the vertices of an $n$-vertex connected graph with $p \le n$. A pebble may move from a vertex to an adjacent one in a time step provided that it…

Let $G = (V, E)$ be an undirected graph with $n$ vertices and $m$ edges, and let $\mu = m/n$. A \emph{distance oracle} is a data structure designed to answer approximate distance queries, with the goal of achieving low stretch, efficient…

We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…

Autonomous mobile robots must maintain safety, but should not sacrifice performance, leading to the classical reach-avoid problem: find a trajectory that is guaranteed to reach a goal and avoid obstacles. This paper addresses the near…

Safe trajectory planning for high-performance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developing a formulation that can be solved in real-time while…

The task of finding an extension to a given partial drawing of a graph while adhering to constraints on the representation has been extensively studied in the literature, with well-known results providing efficient algorithms for…

This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

We present a labeling scheme that assigns labels of size $\tilde O(1)$ to the vertices of a directed weighted planar graph $G$, such that for any fixed $\varepsilon>0$ from the labels of any three vertices $s$, $t$ and $f$ one can determine…

A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…

This paper studies the integrated spacecraft routing and trajectory optimization problem for satellite servicing missions involving partial en-route propellant replenishment. Unlike terrestrial routing problems, spacecraft operate in a…

Many applications using large datasets require efficient methods for minimizing a proximable convex function subject to satisfying a set of linear constraints within a specified tolerance. For this task, we present a proximal projection…

With recent advances in sensing and tracking technology, trajectory data is becoming increasingly pervasive and analysis of trajectory data is becoming exceedingly important. A fundamental problem in analyzing trajectory data is that of…

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…

We introduce space-efficient plane-sweep algorithms for basic planar geometric problems. It is assumed that the input is in a read-only array of $n$ items and that the available workspace is $\Theta(s)$ bits, where $\lg n \leq s \leq n…

A bounded curvature path is a continuously differentiable piece-wise $C^2$ path with bounded absolute curvature connecting two points in the tangent bundle of a surface. These paths have been widely considered in computer science and…

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…

We study the uniqueness and accuracy of the numerical solution of the problem of reconstruction of the shape and trajectory of a reflecting obstacle moving in an inhomogeneous medium from travel times, start and end points, and initial…

We consider the optimization variant of the realizability problem for Prompt Linear Temporal Logic, an extension of Linear Temporal Logic (LTL) by the prompt eventually operator whose scope is bounded by some parameter. In the realizability…

The optimal transport (OT) problem has gained significant traction in modern machine learning for its ability to: (1) provide versatile metrics, such as Wasserstein distances and their variants, and (2) determine optimal couplings between…