相关论文: A Generalized A* Algorithm for Finding Globally Op…

Paths generated by A* and other graph-search-based planners are widely used in the robotic field. Due to the restricted node-expansion directions, the resulting paths are usually not the shortest. Besides, unnecessary heading changes, or…

We present two new and efficient algorithms for computing all-pairs shortest paths. The algorithms operate on directed graphs with real (possibly negative) weights. They make use of directed path consistency along a vertex ordering d. Both…

Motion planning is the core problem to solve for developing any application involving an autonomous mobile robot. The fundamental motion planning problem involves generating a trajectory for a robot for point-to-point navigation while…

This paper proposes two novel path planning algorithms, Roadmap Hybrid A* and Waypoints Hybrid A*, for car-like autonomous vehicles in logistics and industrial contexts with obstacles (e.g., pallets or containers) and narrow corridors.…

The Quantum Approximate Optimization Algorithm (QAOA) has been one of the leading candidates for near-term quantum advantage in gate-model quantum computers. From its inception, this algorithm has sparked the desire for comparison between…

Carpooling has gained considerable importance in developed as well as in developing countries as an effective solution for controlling vehicular pollution, both sound and air. As carpooling decreases the number of vehicles used by…

Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…

The Quantum Approximate Optimization Algorithm can be applied to search problems on graphs with a cost function that is a sum of terms corresponding to the edges. When conjugating an edge term, the QAOA unitary at depth p produces an…

Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…

Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…

Bi-objective search is a well-known algorithmic problem, concerned with finding a set of optimal solutions in a two-dimensional domain. This problem has a wide variety of applications such as planning in transport systems or optimal control…

We address the problem of finding the shortest path between two points in an unknown real physical environment, where a traveling agent must move around in the environment to explore unknown territory. We introduce the Physical-A* algorithm…

In several important routing contexts it is required to identify a set of routes, each of which optimizes a different criterion. For instance, in the context of vehicle routing, one route would minimize the total distance traveled, while…

This work addresses a Multi-Objective Shortest Path Problem (MO-SPP) on a graph where the goal is to find a set of Pareto-optimal solutions from a start node to a destination in the graph. A family of approaches based on MOA* have been…

The Multi-objective Shortest Path (MOSP) problem is a classic network optimization problem that aims to find all Pareto-optimal paths between two points in a graph with multiple edge costs. Recent studies on multi-objective search with A*…

Graph coloring is a computationally difficult problem, and currently the best known classical algorithm for $k$-coloring of graphs on $n$ vertices has runtimes $\Omega(2^n)$ for $k\ge 5$. The list coloring problem asks the following more…

Graph-structured data is central to many scientific and industrial domains, where the goal is often to optimize objectives defined over graph structures. Given the combinatorial complexity of graph spaces, such optimization problems are…

Finding shortest paths in a graph is relevant for numerous problems in computer vision and graphics, including image segmentation, shape matching, or the computation of geodesic distances on discrete surfaces. Traditionally, the concept of…

We introduce the notion of a properly ordered coloring (POC) of a weighted graph, that generalizes the notion of vertex coloring of a graph. Under a POC, if $xy$ is an edge, then the larger weighted vertex receives a larger color; in the…

We study a version of online edge coloring, where the goal is to color as many edges as possible using only a given number, $k$, of available colors. All of our results are with regard to competitive analysis. Previous attempts to identify…