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An energy-efficient parallel algorithm for real-time near-optimal UAV path planning

Daniele Palossi, Michele Furci, Roberto Naldi, Andrea Marongiu, Lorenzo Marconi, Luca Benini
2016 Proceedings of the ACM International Conference on Computing Frontiers - CF '16  
The work is based on OpenCL parallel non-deterministic version of the Dijkstra algorithm to solve the Single Source Shortest Path (SSSP).  ...  We propose a shortest trajectory planning algorithm implementation for Unmanned Aerial Vehicles (UAVs) on an embedded GPU.  ...  This algorithm aims at fast computation using voxel discrete structure and simple avoid strategy, but it does not take into account the feasibility and optimality of the solution.  ... 
doi:10.1145/2903150.2911712 dblp:conf/cd/PalossiFNMMB16 fatcat:ova7bxwucngpdeyk3fmywoluni

Stitching Inter-Domain Paths over IXPs

Vasileios Kotronis, Rowan Klöti, Matthias Rost, Panagiotis Georgopoulos, Bernhard Ager, Stefan Schmid, Xenofontas Dimitropoulos
2016 Proceedings of the Symposium on SDN Research - SOSR '16  
To exploit the rich path diversity, we introduce algorithms that inter-domain routing brokers can use to embed paths, subject to bandwidth and latency constraints.  ...  Up to 91% of the total IPv4 address space can be served by such inter-domain routing brokers when working in concert with just a handful of large IXPs and their associated ISP members.  ...  These algorithms achieve different trade-offs between optimal acceptance ratios and fast online computation, with the hybrid approach realizing a balance between the two goals by reallocating paths in  ... 
doi:10.1145/2890955.2890960 dblp:conf/sosr/KotronisKRGASD16 fatcat:gk4wat4oprgvpfx4vj3mkiv32q

A Survey of Path Planning Algorithms for Mobile Robots

Karthik Karur, Nitin Sharma, Chinmay Dharmatti, Joshua E. Siegel
2021 Vehicles  
Choosing an appropriate path planning algorithm helps to ensure safe and effective point-to-point navigation, and the optimal algorithm depends on the robot geometry as well as the computing constraints  ...  The goal of this paper is to help novice practitioners gain an awareness of the classes of path planning algorithms used today and to understand their potential use cases—particularly within automated  ...  Algorithm Static Constraints Dynamic Constraints Dijkstra x Improved Dijkstra x Multi-layer dictionary x x Floyd and Dijkstra x A* Algorithm The A* Algorithm is a popular graph traversal path planning  ... 
doi:10.3390/vehicles3030027 fatcat:ausuu34zvrf3jn7pp2mx262wki

Stitching Inter-Domain Paths over IXPs [article]

Vasileios Kotronis, Rowan Kloti, Matthias Rost, Panagiotis Georgopoulos, Bernhard Ager, Stefan Schmid, Xenofontas Dimitropoulos
2016 arXiv   pre-print
To exploit the rich path diversity, we introduce algorithms that inter-domain routing brokers can use to embed paths, subject to bandwidth and latency constraints.  ...  Up to 91 % of the total IPv4 address space can be served by such inter-domain routing brokers when working in concert with just a handful of large IXPs and their associated ISP members.  ...  In particular, our goal is to still provide better than best effort paths across the Internet, even when major IXPs or many ISPs do not participate yet in the market.  ... 
arXiv:1611.02642v1 fatcat:osz4ru5hjnhx5ctyfn5d2ukmgm

Virtual network embedding with substrate support for parallelization

Sheng Zhang, Jie Wu, Sanglu Lu
2012 2012 IEEE Global Communications Conference (GLOBECOM)  
A major challenge with network virtualization is virtual network embedding, which deals with the efficient embedding of virtual networks with resource constraints into a substrate network.  ...  However, there hasn't been any focus on virtual network embedding with substrate support for parallelization, i.e., the substrate network supports parallel computation and allows a virtual node to be mapped  ...  (i) Random (without parallelization): it randomly chooses a substrate node for each virtual node, and then employs Dijkstra to find a substrate path for each virtual link; (ii) Greedy (without parallelization  ... 
doi:10.1109/glocom.2012.6503511 dblp:conf/globecom/ZhangWL12 fatcat:gbqdbe55vjenjbq6p2txldv4oq

Literature Review

I. Youngster, M. Green
2013 Journal of the Pediatric Infectious Diseases Society  
Edges are generated as the Voronoi dual within the lower level, using the selected nodes as Voronoi sites. This hierarchy allows for fast computation of approximate shortest paths for general graphs.  ...  merits of flexibility, though with a modestly higher computational requirements.  ...  It"s very difficult to compute Dijkstra"s algorithm in parallel because of the need for previous calculation results, so Dijkstra"s algorithm is unsuitable for parallel processors.  ... 
doi:10.1093/jpids/pit078 pmid:26619506 fatcat:opm7qy3d3behjm6e36szpqzlim

Distributed Path Planning of Unmanned Aerial Vehicle Communication Chain Based on Dual Decomposition

Xiaohua Wei, Jianliang Xu, Wei Wang
2021 Wireless Communications and Mobile Computing  
In order to improve the efficiency of the algorithm, enhance the adaptability and robustness of the algorithm, a distributed path planning algorithm based on the dual decomposition UAV communication chain  ...  In this paper, the research on UAV global path planning is carried out using the ant colony algorithm, and an indoor UAV path planning model based on the ant colony algorithm is constructed.  ...  ant colony algorithm is superior to the Dijkstra algorithm in path optimization and time consumption.  ... 
doi:10.1155/2021/6661926 fatcat:icokippoozdutflkiy24ge4y44

Approach to Integrated Scheduling Problems Considering Optimal Number of Automated Guided Vehicles and Conflict-free Routing in Flexible Manufacturing Systems

Xiang-Fei Lyu, Yu-Chuan Song, Chang-Zheng He, Lei Qi, Wei-Fei Guo
2019 IEEE Access  
To study these problems simultaneously, we propose a genetic algorithm combined with the Dijkstra algorithm that is based on a time window.  ...  INDEX TERMS Conflict-free routing problem, genetic algorithm, Dijkstra algorithm, optimal number of AGVs, time window.  ...  To solve these problems simultaneously, we propose using a genetic algorithm and a Dijkstra algorithm based on a time window to obtain an approximately optimal solution.  ... 
doi:10.1109/access.2019.2919109 fatcat:udzg4xzlrvbufpwlmeg2myneim

Optimizing the Cyclic K-conflict-free Shortest Path Problem in a Network-on-chip

Boureima Zerbo, Marc Sevaux, Andr'e Rossi, Jean-Charles Cr'eput
2017 International Journal of Computer & Software Engineering  
As an example, we use a modified Dijkstra algorithm able to compute a single shortest path in the TEG in pseudo-polynomial time.  ...  The term Dijkstra is used in reference to the function of the algorithm, that produces a shorter path, and to the fact that it is a simplification of the classical Dijkstra algorithm with unit costs associated  ... 
doi:10.15344/2456-4451/2017/115 fatcat:ddmwnae3gvehthpr35z24h4viy

Thorough Review Analysis of Safe Control of Autonomous Vehicles: Path Planning and Navigation Techniques

Sara Abdallaoui, El-Hassane Aglzim, Ahmed Chaibet, Ali Kribèche
2022 Energies  
Thorough state of the art review analysis with critical scrutiny of both safe and optimal paths for autonomous vehicles is addressed in this study.  ...  Emphasis is given to several developed techniques based using sampling algorithms, node-based optimal algorithms, mathematic model-based algorithms, bio-inspired algorithms, which includes neural network  ...  The combined method of Dijkstra algorithm and dynamic window algorithm 'DWA*' method was used for the purpose of gathering the global path planning algorithm and local path planning algorithm.  ... 
doi:10.3390/en15041358 fatcat:7uz4lf47rvakrde5eawe4feu6m

Exploiting planarity in separation routines for the symmetric traveling salesman problem

Adam N. Letchford, Nicholas A. Pearson
2008 Discrete Optimization  
At present, the most successful approach for solving large-scale instances of the Symmetric Traveling Salesman Problem to optimality is branch-and-cut.  ...  We continue this line of research by showing how to exploit planarity in the separation of three other classes of constraints: subtour elimination, 2-matching and simple domino-parity constraints.  ...  Acknowledgements The authors are grateful to the anonymous referees and to Dirk Oliver Theis for providing them with detailed lists of corrections.  ... 
doi:10.1016/j.disopt.2007.05.002 fatcat:fxtrgjgqsfhuhkurfchnemfazu

Reservation table scheduling: branch-and-bound based optimizationvs. integer linear programming techniques

Hadda Cherroun, Alain Darte, Paul Feautrier
2007 Reserche operationelle  
Step 1: Coarse-grain scheduling tries to exploit parallelism and locality of the whole program (in particular in loops, possibly imperfectly nested) with a rough view of the target architecture.  ...  As tasks are modeled as reservation tables, we can express resource constraints using dis-equations (i.e., negations of equations).  ...  We can therefore compute in G r , using Dijkstra's algorithm, the maximal weight a r y,z of a path from y to any reachable vertex z.  ... 
doi:10.1051/ro:2007036 fatcat:ys3di4eahzcthehyjbv33dd7qy

Route Planning in Transportation Networks [chapter]

Hannah Bast, Daniel Delling, Andrew Goldberg, Matthias Müller-Hannemann, Thomas Pajor, Peter Sanders, Dorothea Wagner, Renato F. Werneck
2016 Lecture Notes in Computer Science  
Some algorithms can answer queries in a fraction of a microsecond, while others can deal efficiently with real-time traffic.  ...  Although exact algorithms are fast enough for interactive queries on metropolitan transit systems, dealing with continent-sized instances requires simplifications or heavy preprocessing.  ...  A large number of algorithms have been developed not only to answer basic queries fast, but also to deal with extended scenarios that incorporate delays, compute robust journeys, or optimize additional  ... 
doi:10.1007/978-3-319-49487-6_2 fatcat:zbg272ftdfempady3cjynh6q4e

Route Planning in Transportation Networks [article]

Hannah Bast, Daniel Delling, Andrew Goldberg, Matthias Müller-Hannemann, Thomas Pajor, Peter Sanders, Dorothea Wagner, Renato F. Werneck
2015 arXiv   pre-print
Some algorithms can answer queries in a fraction of a microsecond, while others can deal efficiently with real-time traffic.  ...  Although exact algorithms are fast enough for interactive queries on metropolitan transit systems, dealing with continent-sized instances requires simplifications or heavy preprocessing.  ...  A large number of algorithms have been developed not only to answer basic queries fast, but also to deal with extended scenarios that incorporate delays, compute robust journeys, or optimize additional  ... 
arXiv:1504.05140v1 fatcat:ox42rhvuynd5loq6dljhnfecvu

From model to implementation: a network algorithm programming language

Jian Wang, Jie An, Mingshuai Chen, Naijun Zhan, Lulin Wang, Miaomiao Zhang, Ting Gan
2020 Science China Information Sciences  
and expansion of network devices and constraints; (3) a declarative paradigm for the fast design of forwarding policies; (4) a built-in library for complex algorithm implementation; (5) full compatibility  ...  By deriving motivation from industry practice, we define a novel network algorithm programming language (NAPL) that enhances the SDN framework with a rapid programming flow from topology-based network  ...  In network traffic engineering, CSPF is one of the most commonly used methods for computing the optimal network route fulfilling a set of constraints.  ... 
doi:10.1007/s11432-019-2644-8 fatcat:3pxvjexhpjcafa5ddcxruiaegq
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