相关论文: Fast and Delay-Robust Multimodal Journey Planning

The systems monitoring the location of public transport vehicles rely on wireless transmission. The location readings from GPS-based devices are received with some latency caused by periodical data transmission and temporal problems…

We present FLASH-TB, a journey planning algorithm for public transit networks that combines Trip-Based Public Transit Routing (TB) with the Arc-Flags speedup technique. The basic idea is simple: The network is partitioned into a…

Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a…

We present Arc-Flag TB, a journey planning algorithm for public transit networks which combines Trip-Based Public Transit Routing (TB) with the Arc-Flags speedup technique. Compared to previous attempts to apply Arc-Flags to public transit…

We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…

Delay-tolerant networks (DTNs) are characterized by a possible absence of end-to-end communication routes at any instant. Still, connectivity can generally be established over time and space. The optimality of a temporal path (journey) in…

Network Utility Maximization (NUM) studies the problems of allocating traffic rates to network users in order to maximize the users' total utility subject to network resource constraints. In this paper, we propose a new NUM framework,…

High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…

Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse…

Nowadays, our mobility systems are evolving into the era of intelligent vehicles that aim to improve road safety. Due to their vulnerability, pedestrians are the users who will benefit the most from these developments. However, predicting…

Todays ride sharing services still mimic a better billboard. They list the offers and allow to search for the source and target city, sometimes enriched with radial search. So finding a connection between big cities is quite easy. These…

Optimizing passengers routes is crucial to design efficient transportation networks. Recent results show that optimal transport provides an efficient alternative to standard optimization methods. However, it is not yet clear if this…

In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a…

Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees…

En route travel time estimation (ER-TTE) focuses on predicting the travel time of the remaining route. Existing ER-TTE methods always make re-estimation which significantly hinders real-time performance, especially when faced with the…

We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…

We investigate the stochastic transfer synchronization problem, which seeks to synchronize the timetables of different routes in a transit network to reduce transfer waiting times, delay times, and unnecessary in-vehicle times. We present a…

In this work, we propose a novel machine learning approach to compute the optimal transport map between two continuous distributions from their unpaired samples, based on the DeepParticle methods. The proposed method leads to a min-min…

In queueing networks, it is well known that the throughput-optimal backpressure routing algorithm results in poor delay performance for light and moderate traffic loads. To improve delay performance, state-of-the-art backpressure routing…

Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…