And Reif : on Finding Energy - Minimizing Paths on Terrains 103
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منابع مشابه
On energy-minimizing paths on terrains for a mobile robot
In this paper we discuss the problem of computing optimal paths on terrains for a mobile robot. The cost of a path is defined to be the energy expended due to both friction and gravity. The model allows for ranges of impermissible traversal directions caused by overturn danger or power limitations. This model is interesting and challenging as it incorporates constraints found in realistic situa...
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Shortest path problems are a well-studied class of problems in theoretical computer science. One particularly applicable type of shortest path problem is to find the geodesic shortest path on a terrain. This type of algorithm finds the shortest path between two points that stays on the surface of a terrain. The most popular methods for finding such a shortest path involve a variant of Dijkstra’...
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An analytical strategy to generate stable paths for a reconfigurable vehicle while also meeting additional navigational objectives is herein proposed. The work is motivated by robots traversing over challenging terrains during search and rescue operations, such as those equipped with manipulator arms and/or flippers. The proposed solution looks at minimizing the length of the traversed path and...
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We revisit the problem of finding curvature-constrained paths in a polygonal domain with holes. We give a new proof that finding a shortest curvature-constrained path is NP-hard; our proof is substantially simpler, and makes fewer assumptions about the polygonal domain, than the earlier proof of [Reif and Wang, 1998]. We also prove that it is NP-hard to decide existence of a simple (i.e., non-s...
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Optimally minimizing delay times at signalized intersections can significantly improve both traffic flow and safety. However, most traffic flow optimizing tools do not measure the effect on safety. This study uses nonlinear programming (NLP) algorithms to optimally minimize delay times and employs both Safety performance functions (SPFs) and empirical Bayes (EB) before-after methodology to meas...
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