Developing algorithms and software for geometric path planning problems

  title={Developing algorithms and software for geometric path planning problems},
  author={Danny Ziyi Chen},
  journal={ACM Comput. Surv.},
  • D. Chen
  • Published 1 December 1996
  • Computer Science
  • ACM Comput. Surv.

Study of sidewalks in the UPC campuses of Barcelona through route planning techniques

A specialized bibliographic reference work and an analysis of a first version of the route planning application, which were used as support material, are presented.

Identification of focal epileptic regions from electroencephalographic data: Feigenbaum graphs

This method enables us to identify sets of data from epileptic focal zones and suggest this approach could be used to aid physicians with diagnosing epilepsy from electroencephalographic data and/or in an exact establishment of the epilepsy focal region for surgery.

Risk-Averse Stochastic Shortest Path Planning

This work considers the stochastic shortest path planning problem in MDPs and proposes a computational technique based on difference convex programs (DCPs) to find the associated value functions and therefore the risk-averse policies.

Query-points visibility constraint minimum link paths in simple polygons

This work studies the query version of constrained minimum link paths between two points inside a simple polygon P with n vertices such that there is at least one point on the path, visible from a query point, and proposes an algorithm with O(n) preprocessing time.

Employing waterborne autonomous vehicles for museum visits: a case study in Amsterdam

Amsterdam is a culturally rich city attracting millions of tourists. Popular activities in Amsterdam consist of museum visits and boat tours. By strategically combining them, this paper presents an

Acceleration of Radix-Heap based Dijkstra algorithm by Lazy Update

A fast Dijkstra algorithm with radix-heap by lazy update which solves the single source shortest path problem (SSSP) with the integer edge distances and the experimental results confirm the efficiency of the proposed method which executes 50 % faster than the conventional Dijksta.

Identification of epileptic regions from electroencephalographic data: Feigenbaum graphs

This work characterize two different data sets from each other that consisted of focal and non-focal activity, from where epileptic regions could be identified, and yields good results for identifying sets of data from epileptic zones.

A Geometric Path-Planning Algorithm in Cluttered Planar Environments Using Convex Hulls

This paper proposes an algorithm based on the notion of convex hulls to generate the partial visibility graph from a given start point to a goal point in a 2D workspace cluttered with a number of disjoint polygonal convex or concave obstacles.

Time-Dependent Shortest Path Queries Among Growing Discs

The exact time complexity of the algorithm is determined by the running time of the shortest path computations, which are treated as black-box functions for different settings of growing discs.

Analysis of cascading failure in power systems from a complex network perspective

A circuit-based power flow model for the simulation of cascading failures and the robustness assessment of power systems is proposed, based on Kirchhoff’s laws and the properties of network elements, and combined with a complex network structure to assess the severity of a blackout.



Robot motion planning

  • J. Latombe
  • Geology
    The Kluwer international series in engineering and computer science
  • 1991
This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.

Determining conditional shortest paths in an unknown 3-D environment using framed-octrees

  • D. ChenR. SzczerbaJ. Uhran
  • Computer Science
    1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century
  • 1995
The proposed methods combine together the accuracy of 3D grid-based path planning techniques with the efficiency of octree-based techniques, hence having the advantages of both kinds of techniques and avoiding their disadvantages.

New lower bound techniques for robot motion planning problems

  • J. CannyJ. Reif
  • Computer Science
    28th Annual Symposium on Foundations of Computer Science (sfcs 1987)
  • 1987
The problem of finding a sequence of commanded velocities which is guaranteed to move the point to the goal is shown to be non-deterministic exponential time hard, making it the first provably intractable problem in robotics.

On the all-pairs Euclidean short path problem

  • D. Chen
  • Computer Science, Mathematics
    SODA '95
  • 1995
A data structure that requires nearly linear space and takes subquadratic time to construct and enables us to report the length of a short path between two arbitrary query points in O((logn)/e + 1/c2) time and the actual path in O( logn)/E + l/~~ + L) time, where L is the number of edges of the output path.

An algorithm for planning collision-free paths among polyhedral obstacles

A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.

Fibonacci heaps and their uses in improved network optimization algorithms

Using F-heaps, a new data structure for implementing heaps that extends the binomial queues proposed by Vuillemin and studied further by Brown, the improved bound for minimum spanning trees is the most striking.

An output sensitive algorithm for computing visibility graphs

  • S. GhoshD. Mount
  • Mathematics, Computer Science
    28th Annual Symposium on Foundations of Computer Science (sfcs 1987)
  • 1987
An algorithm is presented that computes the visibility graph of s set of obstacles in time O(E + n log n), where E is the number of edges in the visibilitygraph and n is the total number of vertices in all the obstacles.

Approximate Euclidean shortest path in 3-space

Papadimitriou's approximation approach to the Euclidean shortest path (ESP) problem in 3-space is revisited and an alternative to his subdivision method is given which has some nice properties.

Efficient computation of Euclidean shortest paths in the plane

  • J. HershbergerS. Suri
  • Computer Science, Mathematics
    Proceedings of 1993 IEEE 34th Annual Foundations of Computer Science
  • 1993
The algorithm actually computes a planar map that encodes shortest paths from a fixed source point to all other points of the plane; the map can be used to answer single-source shortest path queries in O(log n) time.