相关论文: Nonholonomic Motion Planning as Efficient as Piano…

Graph algorithms applied in many applications, including social networks, communication networks, VLSI design, graphics, and several others, require dynamic modifications -- addition and removal of vertices and/or edges -- in the graph.…

The locality of a graph problem is the smallest distance $T$ such that each node can choose its own part of the solution based on its radius-$T$ neighborhood. In many settings, a graph problem can be solved efficiently with a distributed or…

In this paper, we propose an algorithm for optimal generation of nonholonomic paths for planning parking maneuvers with a kinematic car model. We demonstrate the use of Successive Convexification algorithms (SCvx), which guarantee path…

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…

Recently, the trend of incorporating differentiable algorithms into deep learning architectures arose in machine learning research, as the fusion of neural layers and algorithmic layers has been beneficial for handling combinatorial data,…

We present a matching and LP based heuristic algorithm that decides graph non-Hamiltonicity. Each of the $n!$ Hamilton cycles in a complete directed graph on $n+1$ vertices corresponds with each of the $n!$ $n$-permutation matrices $P$,…

This paper considers the problem of distributed optimization over time-varying graphs. For the case of undirected graphs, we introduce a distributed algorithm, referred to as DIGing, based on a combination of a distributed inexact gradient…

We present a data structure that can maintain a simple planar graph under edge contractions in linear total time. The data structure supports adjacency queries and provides access to neighbor lists in $O(1)$ time. Moreover, it can report…

Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driverless cars and warehouse installations where marked…

In this paper, we develop a method to detect vacant parking spaces in an environment with unclear segments and contours with the help of MATLAB image processing capabilities. Due to the anomalies present in the parking spaces, such as…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as the environment evolves. Therefore, it can be beneficial to…

All traditional methods of computing shortest paths depend upon edge-relaxation where the cost of reaching a vertex from a source vertex is possibly decreased if that edge is used. We introduce a method which maintains lower bounds as well…

We present fully polynomial-time (deterministic or randomised) approximation schemes for Holant problems, defined by a non-negative constraint function satisfying a generalised second order recurrence modulo a couple of exceptional cases.…

Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams. In order to robustify the…

In this paper, we introduce a graph matching method that can account for constraints of arbitrary order, with arbitrary potential functions. Unlike previous decomposition approaches that rely on the graph structures, we introduce a…

The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…

Graph coarsening is a widely used dimensionality reduction technique for approaching large-scale graph machine learning problems. Given a large graph, graph coarsening aims to learn a smaller-tractable graph while preserving the properties…

Abstract notions of convexity over the vertices of a graph, and corresponding notions of halfspaces, have recently gained attention from the machine learning community. In this work we study monophonic halfspaces, a notion of graph…

Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…