相关论文: The Faulty GPS Problem: Shortest Time Paths in Net…

A divisible treasure is located at a node $H$ of a network. From a given start node a group of $n$ Searchers each seek to reach $H$ first, dividing the treasure equally with the other first arrivers. This type of search game is called…

We study stochastic routing in the PAth-CEntric (PACE) uncertain road network model. In the PACE model, uncertain travel times are associated with not only edges but also some paths. The uncertain travel times associated with paths are able…

In this paper we introduce a new network reachability problem where the goal is to find the most reliable path between two nodes in a network, represented as a directed acyclic graph. Individual edges within this network may fail according…

Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…

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…

The shortest path problem in graphs is fundamental to AI. Nearly all variants of the problem and relevant algorithms that solve them ignore edge-weight computation time and its common relation to weight uncertainty. This implies that taking…

We propose a path planning methodology for a mobile robot navigating through an obstacle-filled environment to generate a reference path that is traceable with moderate sensing efforts. The desired reference path is characterized as the…

We consider the adaptive shortest-path routing problem in wireless networks under unknown and stochastically varying link states. In this problem, we aim to optimize the quality of communication between a source and a destination through…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

Unmanned aerial vehicles (UAV) often rely on GPS for navigation. GPS signals, however, are very low in power and easily jammed or otherwise disrupted. This paper presents a method for determining the navigation errors present at the…

Autonomous vehicles (AVs) rely on the Global Positioning System (GPS) or Global Navigation Satellite Systems (GNSS) for precise (Positioning, Navigation, and Timing) PNT solutions. However, the vulnerability of GPS signals to intentional…

Through the development of efficient algorithms, data structures and preprocessing techniques, real-world shortest path problems in street networks are now very fast to solve. But in reality, the exact travel times along each arc in the…

In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the…

The problem of providing meaningful routing directions over road networks is of great importance. In many real-life cases, the fastest route may not be the ideal choice for providing directions in written, spoken text, or for an unfamiliar…

We report our initial investigations into reliability and path-finding based models and propose future areas of interest. Inspired by broken sidewalks during on-campus construction projects, we develop two models for navigating this…

In the era of the proliferation of Geo-Spatial Data, induced by the diffusion of GPS devices, the map matching problem still represents an important and valuable challenge. The process of associating a segment of the underlying road network…

Let h be a probability measure on the nodes and arcs of a network Q, viewed either as the location of a hidden object to be found or as the continuous distribution of customers receiving packages. We wish to find a trajectory starting from…

Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…

We consider an autonomous reconnaissance mission where an Unmanned Aerial Vehicle (UAV) has to visit several points of interest and communicate the intel back to the base. At every point of interest, the UAV has the option to either send…

The purpose of this work is to introduce and characterize the Bounded Acceleration Shortest Path (BASP) problem, a generalization of the Shortest Path (SP) problem. This problem is associated to a graph: the nodes represent positions of a…