相关论文: Quick Heuristic Validation of Edges in Dynamic Roa…
We present methods for offline generation of sparse roadmap spanners that result in graphs 79% smaller than existing approaches while returning solutions of equivalent path quality. Our method uses a hybrid approach to sampling that…
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a continuous state--cost metric that combines a Bekker…
Recent advancements in Neural Combinatorial Optimization (NCO) have shown promise in solving routing problems like the Traveling Salesman Problem (TSP) and Capacitated Vehicle Routing Problem (CVRP) without handcrafted designs. Research in…
Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…
We describe a variant of the Bellman-Ford algorithm for single-source shortest paths in graphs with negative edges but no negative cycles that randomly permutes the vertices and uses this randomized order to process the vertices within each…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the…
Rich semantic information extraction plays a vital role on next-generation intelligent vehicles. Currently there is great amount of research focusing on fundamental applications such as 6D pose detection, road scene semantic segmentation,…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
Standard algorithms for finding the shortest path in a graph require that the cost of a path be additive in edge costs, and typically assume that costs are deterministic. We consider the problem of uncertain edge costs, with potential…
Subgraph isomorphism, also known as subgraph matching, is typically regarded as an NP-complete problem. This complexity is further compounded in practical applications where edge weights are real-valued and may be affected by measurement…
In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore and adquire the map of unknown structured orthogonal environments. In order to improve the covering of the explored zone, the…
Rapid reliability assessment of transportation networks can enhance preparedness, risk mitigation, and response management procedures related to these systems. Network reliability analysis commonly considers network-level performance and…
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…
We introduce a novel method for defining geographic districts in road networks using stable matching. In this approach, each geographic district is defined in terms of a center, which identifies a location of interest, such as a post office…
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…
We present a new approach called GR (Graph Reduction) algorithm for searching loop-less k-shortest paths (1st to k-th shortest paths) in a graph based on graph reduction. Let a source vertex and a target vertex of k-shortest paths be v_s…
Road networks in cities are massive and is a critical component of mobility. Fast response to defects, that can occur not only due to regular wear and tear but also because of extreme events like storms, is essential. Hence there is a need…
Graph labellings have been a very fruitful area of research in the last four decades. However, despite the staggering number of papers published in the field (over 1000), few general results are available, and most papers deal with…
This paper studies real-world road networks from an algorithmic perspective, focusing on empirical studies that yield useful properties of road networks that can be exploited in the design of fast algorithms that deal with geographic data.…