相关论文: Reducing Redundant Work in Jump Point Search

It is cost-efficient for a tenant with a limited budget to establish a virtual MapReduce cluster by renting multiple virtual private servers (VPSs) from a VPS provider. To provide an appropriate scheduling scheme for this type of computing…

Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…

Shortest Path (SP) computation is a fundamental operation in many real-life applications such as navigation on road networks, link analysis on social networks, etc. These networks tend to be massive, and graph partitioning is commonly…

Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration,…

Failure-Directed Search (FDS) is a significant complete generic search algorithm used in Constraint Programming (CP) to efficiently explore the search space, proven particularly effective on scheduling problems. This paper analyzes FDS's…

Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…

The Single-Source Shortest Path (SSSP) problem is well-known for the challenges in developing fast, practical, and work-efficient parallel algorithms. This work introduces a novel shortest path search method. It allows paths with different…

This paper studies an attacker against a cyber-physical system (CPS) whose goal is to move the state of a CPS to a target state while ensuring that his or her probability of being detected does not exceed a given bound. The attacker's…

This paper proposes a push and pull search (PPS) framework for solving constrained multi-objective optimization problems (CMOPs). To be more specific, the proposed PPS divides the search process into two different stages, including the push…

Constrained pathfinding is a well-studied, yet challenging network optimisation problem that can be seen in a broad range of real-world applications. Pathfinding with multiple resource limits, which is known as the Resource Constrained…

This paper presents a free space trajectory optimization algorithm of autonomous driving vehicle, which decouples the collision-free trajectory planning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) and a Piece-wise…

We present Model Predictive Trees (MPT), a receding horizon tree search algorithm that improves its performance by reusing information efficiently. Whereas existing solvers reuse only the highest-quality trajectory from the previous…

Multi-Agent Path Finding (MAPF) is an NP-hard problem with applications in warehouse automation and multi-robot coordination. Learning-based MAPF solvers offer fast and scalable planning but often produce feasible trajectories that contain…

Limited Discrepancy Search (LDS) is a popular algorithm to search a state space with a heuristic to order the possible actions. Nested Search (NS) is another algorithm to search a state space with the same heuristic. NS spends more time on…

Grid superscheduling requires support for efficient and scalable discovery of resources. Resource discovery activities involve searching for the appropriate resource types that match the user's job requirements. To accomplish this goal, a…

Path planning for a nonholonomic mobile robot is a challenging problem. This paper proposes a novel space adaptive search (SAS) approach that greatly reduces the computation cost of nonholonomic mobile robot path planning. The classic…

Iterative methods are commonly used approaches to solve large, sparse linear systems, which are fundamental operations for many modern scientific simulations. When the large-scale iterative methods are running with a large number of ranks…

We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…

Modeling and simulation of pedestrian behavior is used in applications such as planning large buildings, disaster management, or urban planning. Realistically simulating pedestrian behavior is challenging, due to the complexity of…

Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although advances in planning algorithms have enhanced scalability to…