相关论文: Rapid Vector-based Any-angle Path Planning with No…

Finding the shortest path between two points in a graph is a fundamental problem that has been well-studied over the past several decades. Shortest path algorithms are commonly applied to modern navigation systems, so our study aims to…

Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…

Inspired by the classical fractional cascading technique, we introduce new techniques to speed up the following type of iterated search in 3D: The input is a graph $\mathbf{G}$ with bounded degree together with a set $H_v$ of 3D hyperplanes…

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…

The algorithmic differentiation (AD) of mathematical functions can be interpreted as a sequence of vertex eliminations in an underlying directed acyclic graph. The problem of determining a minimum-cost elimination ordering, which we call…

We consider the following problem in computational geometry: given, in the d-dimensional real space, a set of points marked as positive and a set of points marked as negative, such that the convex hull of the positive set does not intersect…

We propose two new alternating direction methods to solve "fully" nonsmooth constrained convex problems. Our algorithms have the best known worst-case iteration-complexity guarantee under mild assumptions for both the objective residual and…

This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…

Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…

In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…

We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…

The research area of real-time heuristics search has produced quite many algorithms. In the landscape of real-time heuristics search research, it is not rare to find that an algorithm X that appears to perform better than algorithm Y on a…

Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…

Image tracing is a foundational component of the workflow in graphic design, engineering, and computer animation, linking hand-drawn concept images to collections of smooth curves needed for geometry processing and editing. Even for clean…

Prune-and-search is an important paradigm for solving many important geometric problems. We show that the general prune-and-search technique can be implemented where the objects are given in read-only memory. As examples we consider…

To eliminate the effect of ocean currents when addressing the optimal path in the underwater environment, an intelligent algorithm designed for the unmanned underwater vehicle (UUV) is proposed in this paper. The algorithm consists of two…

We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are computationally expensive. A large dense roadmap (graph) can…

This paper presents a practical GPU-accelerated convex hull algorithm and a novel Sorting-based Preprocessing Approach (SPA) for planar point sets. The proposed algorithm consists of two stages: (1) two rounds of preprocessing performed on…

We reexamine fundamental problems from computational geometry in the word RAM model, where input coordinates are integers that fit in a machine word. We develop a new algorithm for offline point location, a two-dimensional analog of sorting…

This study presents a novel algorithm for identifying the set of extreme points that constitute the exact convex hull of a point set in high-dimensional Euclidean space. The proposed method iteratively solves a sequence of dynamically…