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

The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…

Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…

We present the `Basic S*' algorithm for computing shortest path through a metric simplicial complex. In particular, given a metric graph, $G$, which is constructed as a discrete representation of an underlying configuration space (a larger…

In this paper, we propose a novel reduced-rank algorithm for direction of arrival (DOA) estimation based on the minimum variance (MV) power spectral evaluation. It is suitable to DOA estimation with large arrays and can be applied to…

Recent advances in graph neural network architectures and increased computation power have revolutionized the field of combinatorial optimization (CO). Among the proposed models for CO problems, Neural Improvement (NI) models have been…

Heuristic search-based planning techniques are commonly used for motion planning on discretized spaces. The performance of these algorithms is heavily affected by the resolution at which the search space is discretized. Typically a fixed…

We consider time-optimal motion planning for dynamical systems that are translation-invariant, a property that holds for many mobile robots, such as differential-drives, cars, airplanes, and multirotors. Our key insight is that we can…

In this paper we present an algorithm for finding a minimum dominator coloring of orientations of paths. To date this is the first algorithm for dominator colorings of digraphs in any capacity. We prove that the algorithm always provides a…

Quantum image processing is a growing field attracting attention from both the quantum computing and image processing communities. We propose a novel method in combining a graph-theoretic approach for optimal surface segmentation and hybrid…

Graph-structured data are central to many scientific and industrial applications where the goal is to optimize expensive black-box objectives defined over graph structures or node configurations -- as seen in molecular design, supply…

The A* algorithm is a graph search algorithm which has shown good results in terms of computational complexity for Maximum Likelihood (ML) decoding of tailbiting convolutional codes. The decoding of tailbiting codes with this algorithm is…

Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…

Weighted A* (wA*) is a widely used algorithm for rapidly, but suboptimally, solving planning and search problems. The cost of the solution it produces is guaranteed to be at most W times the optimal solution cost, where W is the weight wA*…

We construct a quantum searching model of a signed edge driven by a quantum walk. The time evolution operator of this quantum walk provides a weighted adjacency matrix induced by the assignment of sign to each edge. This sign can be…

Lokshtanov, Marx, and Saurabh SODA 2011 proved that there is no $(k-\epsilon)^{\operatorname{pw}(G)}\operatorname{poly}(n)$ time algorithm for deciding if an $n$-vertex graph $G$ with pathwidth $\operatorname{pw}(G)$ admits a proper vertex…

In a series of papers, Avraham, Filtser, Kaplan, Katz, and Sharir (SoCG'14), Kaplan, Katz, Saban, and Sharir (ESA'23), and Katz, Saban, and Sharir (ESA'24) studied a class of geometric optimization problems -- including reverse shortest…

Graph workloads pose a particularly challenging problem for query optimizers. They typically feature large queries made up of entirely many-to-many joins with complex correlations. This puts significant stress on traditional cardinality…

A shortest-path algorithm finds a path containing the minimal cost between two vertices in a graph. A plethora of shortest-path algorithms is studied in the literature that span across multiple disciplines. This paper presents a survey of…

In the first part of this paper, we consider weighted domination in the case where the vertices of the complete graph on~\(n\) vertices are equipped with independent and identically distributed (i.i.d.) weights. We use the probabilistic…

Heuristic search-based motion planning algorithms typically discretise the search space in order to solve the shortest path problem. Their performance is closely related to this discretisation. A fine discretisation allows for better…