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Time-Efficient Coverage Path Planning for Energy-Constrained UAV

Yanxi Huang, Jiankang Xu, Mengting Shi, Liang Liu
2022 Wireless Communications and Mobile Computing  
To solve the above problem, we propose a time-efficient coverage path planning (TECPP) algorithm for the energy-constrained UAV.  ...  The existing coverage path planning algorithms assume that the UAV moves at a constant speed, without taking into account the cost of turns (including deceleration, turning, and acceleration), which is  ...  TECPP can give a feasible solution for an instance of GTSP at an acceptable cost (i.e., computation time and space).  ... 
doi:10.1155/2022/5905809 doaj:f46152fc63464d6db0f48e65516afd39 fatcat:3hnykhiatfedrd5dfwwoeepts4

A path marginal cost approximation algorithm for system optimal quasi-dynamic traffic assignment

Hasti Tajtehranifard, Ashish Bhaskar, Neema Nassir, Md Mazharul Haque, Edward Chung
2018 Transportation Research Part C: Emerging Technologies  
This study introduces an efficient path-based System-Optimal Quasi-Dynamic Traffic Assignment (SOQDTA) framework that benefits from the computational efficiency of static traffic assignment models, yet  ...  A path marginal cost approximation algorithm for system optimal quasi-dynamic traffic assignment. Transportation Research Part C: Emerging Technologies, 88, 91-106 is available at https://dx.  ...  of the demand to the paths with the current least cost (least PMC here).  ... 
doi:10.1016/j.trc.2018.01.002 fatcat:wjmyojrghzhh3pnkjaaz2vqzfa

Enhancing /spl epsiv/-approximation algorithms with the optimal linear scaling factor

Gang Cheng, N. Ansari, Li Zhu
2006 IEEE Transactions on Communications  
Finding a least-cost path subject to a delay constraint in a network is an NP-complete problem and has been extensively studied.  ...  ., by mapping link costs into integers or at least discrete numbers, a solution which satisfies the delay constraint and has a cost within a factor of the optimal one, that can be computed with pseudopolynomial  ...  Korkmaz and Krunz [11] provided a heuristic with computational complexity comparable to that of the Dijkstra algorithm, to find the least-cost path subject to multiple constraints.  ... 
doi:10.1109/tcomm.2006.878832 fatcat:rl5wonolxngzbjan5hodoljftq

Robust algorithm for real-time route planning

R.J. Szczerba, P. Galkowski, I.S. Glicktein, N. Ternullo
2000 IEEE Transactions on Aerospace and Electronic Systems  
Route planning for intelligent guidance and navigation systems is an extremely complex problem with both military and commercial applications.  ...  The routes are computed in real-time and are able to take into account various mission constraints including: minimum route leg length, maximum turning angle, route distance constraint, and fixed approach  ...  Since we need to introduce turn and distance constraints to the computations, this can only further increase the cost of the generated path.  ... 
doi:10.1109/7.869506 fatcat:7dzh5kwj4ffxfl3udbptwayfoq

Resource Constrained Shortest Paths [chapter]

Kurt Mehlhorn, Mark Ziegelmann
2000 Lecture Notes in Computer Science  
The resource constrained shortest path problem (CSP) asks for the computation of a least cost path obeying a set of resource constraints. The problem is NP-complete.  ...  In the experimental part we compare the hull approach to previous methods for solving the LP relaxation and give an exact algorithm based on the hull approach.  ...  Conclusion We presented an algorithm that computes upper and lower bounds for CSP by exactly solving an LP relaxation.  ... 
doi:10.1007/3-540-45253-2_30 fatcat:ojtlssuojfa4bl3vulsavs7bti

Deploying Near-Optimal Delay-Constrained Paths with Segment Routing in Massive-Scale Networks [article]

Jean-Romain Luttringer, Thomas Alfroy, Pascal Mérindol, Quentin Bramas, François Clad, Cristel Pelsser
2022 arXiv   pre-print
There is a clear need in computing and deploying Delay-Constrained Least-Cost paths (DCLC) with SR for real-time interactive services. However, most current DCLC solutions are not tailored for SR.  ...  They also often lack efficiency or guarantees. Similarly to approximation schemes, we argue that the challenge is to design an algorithm providing both performances and guarantees.  ...  Computing such paths requires to solve DCLC, an NP-Hard problem standing for Delay Constrained Least Cost. DCLC: a relevant issue.  ... 
arXiv:2110.09320v2 fatcat:rxpxpgooajcjzp46qca7kwmqtm

Congestion Managed Multicast Routing in Wireless Mesh Network

Bhupendra Kumar Gupta, Srikanta Patnaik, Ajit Kumar Nayak, Manas Kumar Mallick
2017 International Journal of Communication Networks and Information Security  
We explore multicast routing for least-cost, delay-sensitive and congestion-sensitive in optimizing the routing in Wireless mesh networks (WMNs).  ...  Since searching optimal routing satisfying multi constraints concurrently is an NP complete problem, we have presented a competent estimated algorithm certified with experimental results, which shows that  ...  The optimum solution is first found by computing all constrained spanning tree and selecting the tree with least cost. Then using MCMT heuristic algorithm a constraint multicast tree is generated.  ... 
dblp:journals/ijcnis/GuptaPNM17 fatcat:4n2frbtjgzfvfagif4uc5zc7k4

Page 3461 of Mathematical Reviews Vol. , Issue 99e [page]

1999 Mathematical Reviews  
Summary: “An algorithm is presented for computing least paths under turn angle constraints. The approach is almost as efficient as Dijkstra’s algorithm for unconstrained least cost paths.  ...  Marek Kubale (PL-TGDN-I; Gdansk) 99e:68118 68R10 68Q25 Boroujerdi, Ali (1-NRL-IT; Washington, DC); Uhimann, Jeffrey (1- NRL-IT; Washington, DC) An efficient algorithm for computing least cost paths with  ... 

Differentially constrained mobile robot motion planning in state lattices

Mihail Pivtoraiko, Ross A. Knepper, Alonzo Kelly
2009 Journal of Field Robotics  
We ensure that all paths in the graph encode feasible motions via the imposition of continuity constraints on state variables at graph vertices and compliance of the graph edges with a differential equation  ...  We present an approach to the problem of differentially constrained mobile robot motion planning in arbitrary cost fields.  ...  Queries with an absolute difficulty of 40 cells are shown. Computational cost for the two lattices is not significantly different despite the extra turn-in-place maneuvers.  ... 
doi:10.1002/rob.20285 fatcat:ro2rxetkpncnbgfwxqh3zez7ge

A Pareto Optimal D* Search Algorithm for Multiobjective Path Planning [article]

Alexander Lavin
2015 arXiv   pre-print
The global path plan can be calculated with a variety of informed search algorithms, most notably the A* search method, guaranteed to deliver a complete and optimal solution that minimizes the path cost  ...  Simulations were run to model a planetary exploration rover in a Mars environment, with five path costs.  ...  An efficient path is one that minimizes path costs, where the cost is typically the travel distance or time.  ... 
arXiv:1511.00787v1 fatcat:eawhdxhbvra3njdy4g2m2qeota

CNOP - A Package for Constrained Network Optimization [chapter]

K. Mehlhorn, M. Ziegelmann
2001 Lecture Notes in Computer Science  
We present a generic package for resource constrained network optimization problems.  ...  We illustrate the flexibility and the use of our package by solving four applications: route planning, curve approximation, minimum cost reliability constrained spanning trees and the table layout problem  ...  The general function looks like this: (reductions are turned on, and the kshortest path algorithm is used per default) csp(G,s,t,cost,resource,upperbound); Default parameters enable the user to turn on  ... 
doi:10.1007/3-540-44808-x_2 fatcat:okl72bsk5vhk7i4lruwflsl5qe

Optimal energy/time routing in battery-powered vehicles

Mahmoud Faraj, Otman Basir
2016 2016 IEEE Transportation Electrification Conference and Expo (ITEC)  
This algorithm, introduced by the Dutch computer scientist, Edsger Dijkastra, is a graph search technique for efficiently computing the shortest path between any two nodes in networks, with non-negative  ...  Any path with an energy cost that is greater than the battery charge level is excluded from the search process by turning its travel-time cost into infinity.  ... 
doi:10.1109/itec.2016.7520261 fatcat:idlblyge6zg2fpj5kuintsjlve

Efficient visual exploration and coverage with a micro aerial vehicle in unknown environments

Lionel Heng, Alkis Gotovos, Andreas Krause, Marc Pollefeys
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
In this paper, we propose a novel and computationally efficient algorithm for simultaneous exploration and coverage with a vision-guided micro aerial vehicle (MAV) in unknown environments.  ...  Our algorithm leverages the state lattice concept such that the planned path adheres to specified motion constraints.  ...  This state lattice representation has two important advantages with respect to computational efficiency: 1) the problem of path planning with motion constraints reduces to an unconstrained graph search  ... 
doi:10.1109/icra.2015.7139309 dblp:conf/icra/HengGKP15 fatcat:j5nkbpd7ybejbnr7ozsbq7nkia

An Efficient Approach to Communication-aware Path Planning for Long-range Surveillance Missions undertaken by UAVs [article]

Hrishikesh Sharma, Tom Sebastian
2017 arXiv   pre-print
In this report, we study the mono-objective offline path planning problem, based on the distance cost, while posing the communication cost as an upper-bounded constraint.  ...  These two costs trade-off, and hence Pareto optimization is needed for this 3D bi-objective Euclidean shortest path problem.  ...  Cost Comparison for Single Constraint Again, to the best of our knowledge, no research work exists that combines greedy backtracking with greedy path augmentation (Theta*), for just the turn-angle constraint  ... 
arXiv:1707.04578v1 fatcat:6cgu5ukbnbckrpmj3miyzmaspi

Page 1398 of Mathematical Reviews Vol. , Issue 2001B [page]

2001 Mathematical Reviews  
An efficient search strategy for path exchange that uses edge lengths to give search radii is proposed.  ...  For k = 4, the concerned graphs are planar and hence the algorithm works with complexity O(n). The constructions and computations are explained through an example. Koduvayur R.  ... 
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