In this paper, we study the path planning for khepera II mobile robot in an unknown environment. The well known heuristic D* lite algorithm is implemented to make the mobile robot navigate through static obstacles and find the shortest path from an initial position to a target position by avoiding the obstacles. and to perform efficient re-planning during exploration. The proposed path finding ...

Routing metrics are essential to achieve a good end-to-end throughput on a min-cost path in multi-hop wireless networks. Originally, most routing algorithms were based on min-hop count metric. Then link-quality aware metrics, ETX and ETT, are proposed. After that, the emergence of opportunistic and any-path routing, leads to metrics such as EOTX and EAX. But almost all the previous routing metr...

A procedure commonly used in Job Shop Scheduling Problem (JSSP) to evaluate the neighborhoods functions that use the non-deterministic algorithms is the calculation of the critical path in a digraph. This paper presents an experimental study of the cost of computation that exists when the calculation of the critical path in the solution for instances in which a JSSP of large size is involved. T...

Path planning algorithms determine a path from start to goal locations, generally minimizing a cost such as time, distance, fuel, or other parameters. Often, this cost is estimated by the straight-line distance between two points or configurations. However, for a free flying space robot, a straight line is not necessarily the least costly path, because discrete thrusters generate arc-shaped tra...

Low-cost robots are characterized by low computational resources and limited energy supply. Path planning algorithms aim to find the optimal path between two points so the robot consumes as little energy as possible. However, these algorithms were not developed considering computational limitations (i.e., processing and memory capacity). This paper presents the HCTNav path-planning algorithm (H...

Recently path integral methods have been developed for stochastic optimal control for a wide class of models with non-linear dynamics in continuous space-time. Path integral methods find the control that minimizes the expected cost-to-go. In this paper we show that under the same assumptions, path integral methods generalize directly to risk sensitive stochastic optimal control. Here the method...

We present the basic design of Cost-Carrying Packets (CCP), a novel routing framework to achieve disruption-free intra-domain routing. Under CCP, each packet carries a short label to indicate the remaining path cost to reach its destination. Downstream routers use path costs carried by packets and their locally computed path costs to detect inconsistent forwarding paths and repair the inconsist...

We have designed and implemented a new protocol for wireless mesh networks called Practical Opportunistic Routing (POR). In this report, we document our finding about the complexity of the routing problem in POR. We prove that the routing problem is NP-hard by reducing a slightly modified version of the MAX-2-SAT problem to the optimal routing problem in POR. I. PRELIMINARIES We have proposed a...

In this paper we present a cooperative game theoretic interpretation of the shortest path problem. We consider a buying agent who has a budget to go from a specified source node s to a specified target node t in a directed acyclic network. The budget may reflect the level of utility that he associates in going from node s to node t. The edges in the network are owned by individual utility maxim...

A wavelength division multiplexing (WDM) optical path-based Internet protocol (IP) backbone network is proposed as a cost-effective way of realizing robust IP-over-photonic systems. The WDM optical path is based on WDM transmission and wavelength routing. Between end-to-end IP backbone routers, the WDM optical path, a fat and robust optical pipe, is defined across photonic transport systems (PT...