相关论文: Nonholonomic Motion Planning as Efficient as Piano…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
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…
Motivated by performance optimization of large-scale graph processing systems that distribute the graph across multiple machines, we consider the balanced graph partitioning problem. Compared to the previous work, we study the…
The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
Motion planning is a fundamental problem of robotics with applications in many areas of computer science and beyond. Its restriction to graphs has been investigated in the literature for it allows to concentrate on the combinatorial problem…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
We consider a Hamiltonian decomposition problem of partitioning a regular graph into edge-disjoint Hamiltonian cycles. It is known that verifying vertex non-adjacency in the 1-skeleton of the symmetric and asymmetric traveling salesperson…
This paper presents an agile reactive navigation strategy for driving a non-holonomic ground vehicle around a preset course of gates in a cluttered environment using a low-cost processor array sensor. This enables machine vision tasks to be…
In the minimum planarization problem, given some $n$-vertex graph, the goal is to find a set of vertices of minimum cardinality whose removal leaves a planar graph. This is a fundamental problem in topological graph theory. We present a…
Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured…
Many optimization problems can be naturally represented as (hyper) graphs, where vertices correspond to variables and edges to tasks, whose cost depends on the values of the adjacent variables. Capitalizing on the structure of the graph,…
We study a variant of the Coordinated Motion Planning problem on undirected graphs, referred to herein as the \textsc{Coordinated Sliding-Motion Planning} (CSMP) problem. In this variant, we are given an undirected graph $G$, $k$ robots…
It has long been known that cylindrical algebraic decompositions (CADs) can in theory be used for robot motion planning. However, in practice even the simplest examples can be too complicated to tackle. We consider in detail a "Piano…
In this paper we present the first deterministic polynomial time algorithm for determining the existence of a Hamiltonian cycle and finding a Hamiltonian cycle in general graphs. Our algorithm can also solve the Hamiltonian path problem in…
We present new refinement heuristics for the balanced graph partitioning problem that break with an age-old rule. Traditionally, local search only permits moves that keep the block sizes balanced (below a size constraint). In this work, we…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
We describe a linear-time algorithm that finds a planar drawing of every graph of a simple line or pseudoline arrangement within a grid of area O(n^{7/6}). No known input causes our algorithm to use area \Omega(n^{1+\epsilon}) for any…