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Path planning plays a crucial role in various autonomy applications, and RRT* is one of the leading solutions in this field. In this paper, we propose the utilization of vertex-based networks to enhance the sampling process of RRT*, leading…

Querying the shortest path between two vertexes is a fundamental operation in a variety of applications, which has been extensively studied over static road networks. However, in reality, the travel costs of road segments evolve over time,…

Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on…

This paper focuses on developing an efficient algorithm for analyzing a directed network (graph) from a topological viewpoint. A prevalent technique for such topological analysis involves computation of homology groups and their…

Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…

Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper, we propose a spatio-temporal trajectory planning method…

In this paper we present an algorithm for optimal processing of time-dependent sequenced route queries in road networks, i.e., given a road network where the travel time over an edge is time-dependent and a given ordered list of categories…

Interactions between two entities often occur at specific timestamps, which can be modeled as a temporal graph. Exploring the relationships between vertices based on temporal paths is one of the fundamental tasks. In this paper, we conduct…

We consider the problem of distilling efficient network topologies for collective communications. We provide an algorithmic framework for constructing direct-connect topologies optimized for the latency vs. bandwidth trade-off associated…

Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…

Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the unpredictable motions of moving obstacles and the curse of dimensionality from the state-time space. Existing state-time planners…

Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…

Shortest path queries over graphs are usually considered as isolated tasks, where the goal is to return the shortest path for each individual query. In practice, however, such queries are typically part of a system (e.g., a road network)…

Multi-Agent Path Finding (MAPF) focuses on planning collision-free paths for multiple agents. However, during the execution of a MAPF plan, agents may encounter unexpected delays, which can lead to inefficiencies, deadlocks, or even…

In this paper, we propose a new method called Clustering Topological PRM (CTopPRM) for finding multiple homotopically distinct paths in 3D cluttered environments. Finding such distinct paths, e.g., going around an obstacle from a different…

Planning safe paths is a major building block in robot autonomy. It has been an active field of research for several decades, with a plethora of planning methods. Planners can be generally categorised as either trajectory optimisers or…

In the realm of generative models for graphs, extensive research has been conducted. However, most existing methods struggle with large graphs due to the complexity of representing the entire joint distribution across all node pairs and…

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…

We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method includes a novel exact convex partitioning of the obstacle…

Computing shortest paths is one of the most researched topics in algorithm engineering. Currently available algorithms compute shortest paths in mere fractions of a second on continental sized road networks. In the presence of…