相关论文: Constructing Optimal Highways
Let $\mathscr O$ be a set of $n$ disjoint obstacles in $\mathbb{R}^2$, $\mathscr M$ be a moving object. Let $s$ and $l$ denote the starting point and maximum path length of the moving object $\mathscr M$, respectively. Given a point $p$ in…
Travel time estimation is a critical task, useful to many urban applications at the individual citizen and the stakeholder level. This paper presents a novel hybrid algorithm for travel time estimation that leverages historical and sparse…
Two-stage methods addressing continuous shortest path problems start local minimization from discrete shortest paths in a spatial graph. The convergence of such hybrid methods to global minimizers hinges on the discretization error induced…
Motivated by the shape of transportation networks such as subways, we consider a distribution of points in the plane and ask for the network $G$ of given length $L$ that is optimal in a certain sense. In the general model, the optimality…
This paper focuses on automatic guided vehicle (AGV) trajectory planning in the presence of moving obstacles with known but complicated trajectories. In order to achieve good solution precision, optimality and unification, the concerned…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
Given two points in the plane, a set of obstacles defined by closed curves, and an integer $k$, does there exist a path between the two designated points intersecting at most $k$ of the obstacles? This is a fundamental and well-studied…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
In this paper we study the problem of finding hotspots, i.e. regions in which a moving entity has spent a significant amount of time, for polygonal trajectories. The fastest optimal algorithm, due to Gudmundsson, van Kreveld, and Staals…
A \emph{complete geometric graph} consists of a set $P$ of $n$ points in the plane, in general position, and all segments (edges) connecting them. It is a well known question of Bose, Hurtado, Rivera-Campo, and Wood, whether there exists a…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. Previously,…
There has been tremendous progress in algorithmic methods for computing driving directions on road networks. Most of that work focuses on time-independent route planning, where it is assumed that the cost on each arc is constant per query.…
We consider the problem of time-optimal path planning for simple nonholonomic vehicles. In previous similar work, the vehicle has been simplified to a point mass and the obstacles have been stationary. Our formulation accounts for a…
We address the problem of simultaneously estimating arc travel times in a network \emph{and} parameters of route choice models for strategic and tactical network planning purposes. Hitherto, these interdependent tasks have been approached…
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…
Smooth and safe speed planning is imperative for the successful deployment of autonomous vehicles. This paper presents a mathematical formulation for the optimal speed planning of autonomous driving, which has been validated in…
We consider the problem of finding an optimal piecewise linear path (polygonal line) connecting two given points with the possibility of making n turns at some points (the absolute value of each turn angle does not exceed a prescribed…
A key measure of performance and comfort in a road traffic network is the travel time that the users of the network experience to complete their journeys. Travel times on road traffic networks are stochastic, highly variable, and dependent…