相关论文: An efficient tangent based topologically distincti…

Computing a (short) path between two vertices is one of the most fundamental primitives in graph algorithmics. In recent years, the study of paths in temporal graphs, that is, graphs where the vertex set is fixed but the edge set changes…

This article provides extensions to existing path-velocity decomposition based time optimal trajectory planning algorithm \cite{kant1986toward} to scenarios in which agents move in 2D obstacle environment under double integrator dynamics…

Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues…

This paper proposes a generalised framework for density estimation in large networks with measurable spatiotemporal variance in edge weights. We solve the stochastic shortest path problem for a large network by estimating the density of the…

Being able to rapidly respond to the changing scenes and traffic situations by generating feasible local paths is of pivotal importance for car autonomy. We propose to train a deep neural network (DNN) to plan feasible and nearly-optimal…

Real-time multi-target path planning is a key issue in the field of autonomous driving. Although multiple paths can be generated in real-time with polynomial curves, the generated paths are not flexible enough to deal with complex road…

We study informative path planning (IPP) with travel budgets in cluttered environments, where an agent collects measurements of a latent field modeled as a Gaussian process (GP) to reduce uncertainty at target locations. Graph-based solvers…

We propose the Selective Densification method for fast motion planning through configuration space. We create a sequence of roadmaps by iteratively adding configurations. We organize these roadmaps into layers and add edges between…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…

Multi-Agent Path Finding (MAPF) requires computing collision-free paths for multiple agents in shared environment. Most MAPF planners assume that each agent reaches a specific location at a specific timestep, but this is infeasible to…

Acquiring plausible pathways on high-dimensional structural distributions is beneficial in several domains. For example, in the drug discovery field, a protein conformational pathway, i.e. a highly probable sequence of protein structural…

In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…

Finding the shortest paths in road network is an important query in our life nowadays, and various index structures are constructed to speed up the query answering. However, these indexes can hardly work in real-life scenario because the…

We study how to use guidance to improve the throughput of lifelong Multi-Agent Path Finding (MAPF). Previous studies have demonstrated that, while incorporating guidance, such as highways, can accelerate MAPF algorithms, this often results…

Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…

This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…

Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…

We propose a robust and efficient framework to generate global trajectories for ground robots in complex 3D environments. The proposed method takes point cloud as input and efficiently constructs a multi-level map using triangular patches…