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

We introduce a general method for obtaining fixed-parameter algorithms for problems about finding paths in undirected graphs, where the length of the path could be unbounded in the parameter. The first application of our method is as…

Designing good heuristic functions for graph search requires adequate domain knowledge. It is often easy to design heuristics that perform well and correlate with the underlying true cost-to-go values in certain parts of the search space…

The classic problem of constrained pathfinding is a well-studied, yet challenging, topic in AI with a broad range of applications in various areas such as communication and transportation. The Weight Constrained Shortest Path Problem…

Given an undirected, weighted graph, with $n$ vertices and $m$ edges, and two special vertices $s$ and $t$, the problem is to find the shortest path between them. We give two bounded-error quantum algorithms with improved runtime in the…

In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a…

We study stochastic graph optimization problems in a novel distributed setting. As in the standard centralized setting, a random subgraph $G^*$ of a known base graph $G$ is realized by including each edge $e$ independently with a known…

We consider the problem of computing all pairs shortest paths (APSP) and shortest paths for k sources in a weighted graph in the distributed CONGEST model. For graphs with non-negative integer edge weights (including zero weights) we build…

In this article, we study the Adjacent Quadratic Shortest Path Problem (AQSPP), which consists in finding the shortest path on a directed graph when its total weight component also includes the impact of consecutive arcs. We provide a…

We resolve a number of long-standing open problems in online graph coloring. More specifically, we develop tight lower bounds on the performance of online algorithms for fundamental graph classes. An important contribution is that our…

This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…

We consider large-scale, implicit-search-based solutions to Shortest Path Problems on Graphs of Convex Sets (GCS). We propose GCS*, a forward heuristic search algorithm that generalizes A* search to the GCS setting, where a…

We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches…

Grids with blocked and unblocked cells are often used to represent terrain in robotics and video games. However, paths formed by grid edges can be longer than true shortest paths in the terrain since their headings are artificially…

We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…

We provide novel deterministic distributed vertex coloring algorithms. As our main result, we give a deterministic distributed algorithm to compute a $(\Delta+1)$-coloring of an $n$-node graph with maximum degree $\Delta$ in…

We design an $O(n^3)$ algorithm to find a minimum weighted coloring of a ($P_5, \bar{P}_5$)-free graph. Furthermore, the same technique can be used to solve the same problem for several classes of graphs, defined by forbidden induced…

Graph coloring is one of the central problems in distributed graph algorithms. Much of the research on this topic has focused on coloring with $\Delta+1$ colors, where $\Delta$ denotes the maximum degree. Using $\Delta+1$ colors may be…

Let $G$ be an edge-weighted directed graph with $n$ vertices embedded on an orientable surface of genus $g$. We describe a simple deterministic lexicographic perturbation scheme that guarantees uniqueness of minimum-cost flows and shortest…

We describe a simple parallel-friendly lightweight graph reordering algorithm for COO graphs (edge lists). Our ``Batched Order By Attachment'' (BOBA) algorithm is linear in the number of edges in terms of reads and linear in the number of…

Drawings of non-planar graphs always result in edge crossings. When there are many edges crossing at small angles, it is often difficult to follow these edges, because of the multiple visual paths resulted from the crossings that slow down…