相关论文: APP: A* Post-Processing Algorithm for Robots with …
In this thesis, we design algorithms for several NP-hard problems in both worst and beyond worst case settings. In the first part of the thesis, we apply the traditional worst case methodology and design approximation algorithms for the Hub…
Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
We present Asynchronous Stochastic Parallel Pose Graph Optimization (ASAPP), the first asynchronous algorithm for distributed pose graph optimization (PGO) in multi-robot simultaneous localization and mapping. By enabling robots to optimize…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
We consider time-optimal motion planning for dynamical systems that are translation-invariant, a property that holds for many mobile robots, such as differential-drives, cars, airplanes, and multirotors. Our key insight is that we can…
Circuit routing has been a historically challenging problem in designing electronic systems such as very large-scale integration (VLSI) and printed circuit boards (PCBs). The main challenge is that connecting a large number of electronic…
The most crucial challenges for UAVs are planning paths and avoiding obstacles in their way. In recent years, a wide variety of path-planning algorithms have been developed. These algorithms have successfully solved path-planning problems;…
We present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own search space of the common environment as a multi-resolution…
The problem of finding the shortest path in a graph G(V, E) has been widely studied. However, in many applications it is necessary to compute an arbitrary number of them, k. Even though the problem has raised a lot of interest from…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
The shortest paths problem is a fundamental challenge in graph theory, with a broad range of potential applications. The algorithms based on matrix multiplication exhibits excellent parallelism and scalability, but is constrained by high…
We develop new $(1+\epsilon)$-approximation algorithms for finding the global minimum edge-cut in a directed edge-weighted graph, and for finding the global minimum vertex-cut in a directed vertex-weighted graph. Our algorithms are…
The approximate single-source shortest-path problem is as follows: given a graph with nonnegative edge weights and a designated source vertex $s$, return estimates of the distances from~$s$ to each other vertex such that the estimate falls…
The search is based on the preliminary transformation of matrices or adjacency lists traditionally used in the study of graphs into projections cleared of redundant information (refined) followed by the selection of the desired shortest…
In this paper, we introduce a graph matching method that can account for constraints of arbitrary order, with arbitrary potential functions. Unlike previous decomposition approaches that rely on the graph structures, we introduce a…
Many robots operating in unpredictable environments require an online path planning algorithm that can quickly compute high quality paths. Asymptotically optimal planners are capable of finding the optimal path, but can be slow to converge.…
An additive manufacturing (AM) process often produces a {\it near-net} shape that closely conforms to the intended design to be manufactured. It sometimes contains additional support structure (also called scaffolding), which has to be…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…