相关论文: Neural Weighted A*: Learning Graph Costs and Heuri…

Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…

We describe how to convert the heuristic search algorithm A* into an anytime algorithm that finds a sequence of improved solutions and eventually converges to an optimal solution. The approach we adopt uses weighted heuristic search to find…

We present a novel neural architecture to solve graph optimization problems where the solution consists of arbitrary node labels, allowing us to solve hard problems like graph coloring. We train our model using reinforcement learning,…

Designing neural networks typically relies on manual trial and error or a neural architecture search (NAS) followed by weight training. The former is time-consuming and labor-intensive, while the latter often discretizes architecture search…

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…

A factored Nonlinear Program (Factored-NLP) explicitly models the dependencies between a set of continuous variables and nonlinear constraints, providing an expressive formulation for relevant robotics problems such as manipulation planning…

In Nature Machine Intelligence 4, 367 (2022), Schuetz et al provide a scheme to employ graph neural networks (GNN) as a heuristic to solve a variety of classical, NP-hard combinatorial optimization problems. It describes how the network is…

Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…

Anytime search algorithms are useful for planning problems where a solution is desired under a limited time budget. Anytime algorithms first aim to provide a feasible solution quickly and then attempt to improve it until the time budget…

Edge intelligence has arisen as a promising computing paradigm for supporting miscellaneous smart applications that rely on machine learning techniques. While the community has extensively investigated multi-tier edge deployment for…

Previous work has shown that the problem of learning the optimal structure of a Bayesian network can be formulated as a shortest path finding problem in a graph and solved using A* search. In this paper, we improve the scalability of this…

Districting-and-routing is a strategic problem aiming to aggregate basic geographical units (e.g., zip codes) into delivery districts. Its goal is to minimize the expected long-term routing cost of performing deliveries in each district…

Deep reinforcement learning (DRL) allows a system to interact with its environment and take actions by training an efficient policy that maximizes self-defined rewards. In autonomous driving, it can be used as a strategy for high-level…

Recently, differentiable search methods have made major progress in reducing the computational costs of neural architecture search. However, these approaches often report lower accuracy in evaluating the searched architecture or…

Graph search planning algorithms for navigation typically rely heavily on heuristics to efficiently plan paths. As a result, while such approaches require no training phase and can directly plan long horizon paths, they often require…

Graph Neural Networks (GNNs) have been widely adopted due to their strong performance. However, GNN training often relies on expensive, high-performance computing platforms, limiting accessibility for many tasks. Profiling of representative…

Many real-world applications need path planning algorithms to solve tasks in different areas, such as social applications, autonomous cars, and tracking activities. And most importantly motion planning. Although the use of path planning is…

Standard algorithms for finding the shortest path in a graph require that the cost of a path be additive in edge costs, and typically assume that costs are deterministic. We consider the problem of uncertain edge costs, with potential…

In this paper, we explore the graph partitioning problem, a pivotal combina-torial optimization challenge with extensive applications in various fields such as science, technology, and business. Recognized as an NP-hard prob-lem, graph…

This study proposes a hybrid deep-learning-metaheuristic framework with a bi-level architecture for road network design problems (NDPs). We train a graph neural network (GNN) to approximate the solution of the user equilibrium (UE) traffic…