Current motion planners, such as the ones available in ROS MoveIt, can solve difficult motion planning problems. However, these planners are not practical in unstructured, rapidly-changing environments. First, they assume that the environment is well-known, and static during planning and execution. Second, they do not support temporal constraints, which are often important for synchronization b...

Finding a shortest path between any two nodes in a network have been studied over the past few decades. A lot of routing algorithms for distributed networks have been introduced. In this paper, we consider routing in a doubling metric space. The doubling dimension is defined as the minimum value of α such that any radius-r ball can be covered by at most 2 radius-(r/2) balls. Doubling metric spa...

In this paper, we discuss the relation of unsplittable shortest path routing (USPR) to other routing schemes and study the approximability of three USPR network planning problems. Given a digraph D = (V,A) and a set K of directed commodities, an USPR is a set of flow paths Φ(s,t), (s, t) ∈ K, such that there exists a metric λ = (λa) ∈ Z+ with respect to which each Φ(s,t) is the unique shortest ...

in this paper, shortest path design problem (spdp) in which the path is incident to all cells is considered. the bi-directional path is one of the known types of configuration of networks for automated guided vehi-cles (agv).to solve this problem, two algorithms are developed. for each algorithm an integer linear pro-gramming (ilp) is determined. the objective functions of both algorithms are t...

in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

A special case of the Time-Dependent Shortest Path Problem (TDSPP) is the itinerary planning problem where the objective is to find the shortest path between a source and a destination node which passes through a fixed sequence of intermediate nodes. In this paper, we deviate from the common approach for solving this problem, that is, finding first the shortest paths between successive nodes in...

Many communicat ion networks use adaptive shortest path routing. By this we mean that each network link is periodically assigned a length that depends on its congestion level during the preceding period, and all traffic generated between length updates is routed along a shortest path corresponding to the latest link lengths. We show that in certain situations, typical of networks involving a la...

There are many path planning algorithms designed for mobile robots with software implementation. In the case of dynamic environments high-speed planning and recomputation of paths is necessary to avoid collision of robots with moving objects. A hardware-efficient algorithm is presented for finding a path of a mobile robot on image of an environment captured by an overhead camera. The algorithm ...

protein structural flexibility is important for catalysis, binding, protein design, and allostery. some simple methods have recently been introduced to compute protein flexibility directly from the protein structure without any mechanical models. for example the atomic mean square displacement (or b-factor) is related to the number of neighboring atoms. the protein structure can be modeled as a...