The motion planning problems for non-holonomic car-like robots have been extensively studied in the literature. The curvature-constrained shortest-path problem is to plan a path (from an initial connguration to a nal connguration, where a connguration is deened by a location and an orientation) in the presence of obstacles, such that the path is a shortest among all paths with a prescribed curv...

In this paper, we consider the case of a robot that must find ways in an initially unknown and often complex cross-country environment. Our approach relies on a particular model of the environment, built from 3D data : the environment is represented by a hierarchical polygonal structure, in which terrain classes probabilities are updated as the robot moves. We describe how to define traversabil...

We present an obstacle avoiding path planning method based on a Voronoi diagram. We use a tactical visibility measure to obtain the shortest path length with the lowest local probability to be discovered based on the map topology. A Voronoi-based navigation mesh for finding the shortest smooth path with the lowest visibility along the path is used. The piecewise linear rough path in the Voronoi...

We study the problem of finding small integer arc lengths in a digraph such that some given paths are uniquely determined shortest paths. This Inverse Shortest Paths (ISP) problem arises in the planning of shortest path networks. We present an O(|V |)-approximation algorithm for ISP and show that minimizing the longest arc or the longest path length is APX -hard. Thus, deciding if a given path ...

This paper presents a new heuristic algorithm useful for long-term planning of survivable WDM networks. A multi-period model is formulated that combines network topology design and capacity expansion. The ability to determine network expansion schedules of this type becomes increasingly important to the telecommunications industry and to its customers. The solution technique consists of a Genet...

The shortest/optimal path generation is essential for the efficient operation of a mobile robot. Recent advances in robotics and machine intelligence have led to the application of modern optimization method such as the genetic algorithm (GA), to solve the path-planning problem. However, the genetic algorithm path planning approach in the previous works requires a preprocessing step that captur...

Abstract With technological advancement, drone has emerged as unmanned aerial vehicle that can be controlled by humans to fly or reach a destination. This may autonomous well, where the itself is intelligent enough find shortest obstacle-free path destination from designated source. Be it planned smart city even wreckage site affected natural calamity, we imagine buildings, any surface-erected ...

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

In this paper the application of the CNN-based active contour technique called pixellevel snakes (PLS) to find the shortest path in planar labyrinths is proposed. The strategy relies on multiple processing steps with a PLS algorithm implemented on the CNNUM. The proposal has been extended to approximate the shortest length path in sparse labyrinths suitable for applications like robot path plan...