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46,838
Approximation algorithms for shortest path motion planning
 In 19th ACM Symposium on Theory of Computing (STOC'87
, 1987
"... This paper gives approximation algorithms for solving the following motion planning problem: Given a set of polyhedral obstacles and points s and t, find a shortest path from s to t that avoids the obstacles. The paths found by the algorithms are piecewise linear, and the length of a path is the sum ..."
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Cited by 109 (0 self)
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This paper gives approximation algorithms for solving the following motion planning problem: Given a set of polyhedral obstacles and points s and t, find a shortest path from s to t that avoids the obstacles. The paths found by the algorithms are piecewise linear, and the length of a path
Finding the k Shortest Paths
, 1997
"... We give algorithms for finding the k shortest paths (not required to be simple) connecting a pair of vertices in a digraph. Our algorithms output an implicit representation of these paths in a digraph with n vertices and m edges, in time O(m + n log n + k). We can also find the k shortest pat ..."
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Cited by 401 (2 self)
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We give algorithms for finding the k shortest paths (not required to be simple) connecting a pair of vertices in a digraph. Our algorithms output an implicit representation of these paths in a digraph with n vertices and m edges, in time O(m + n log n + k). We can also find the k shortest
Planning Algorithms
, 2004
"... This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning ..."
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Cited by 1108 (51 self)
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This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning
New shortestpath approaches to visual servoing
 In IEEE/RSJ International Conference on Intelligent Robots and Systems
, 2004
"... AbslraclIn recent years, a number of \,isual servo control slgarithms have been proposed. Most approaches try to solve the inherent problems of imagebased and positionbased servoing by partitioning the eontml between image and Cartesian spaces. However, partitioning of the cuntml often causes the ..."
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Cited by 10 (3 self)
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the Cartesian path to become more complex, which might result in operation close to the joint limits. A solution to avoid the joint limits is to use a shortestpath approach, which avoids the limits in must cases. In this paper, two new shortestpath approaches to visual servoing are presented. Fin6 a pusition
Adaptive clustering for mobile wireless networks
 IEEE Journal on Selected Areas in Communications
, 1997
"... This paper describes a selforganizing, multihop, mobile radio network, which relies on a code division access scheme for multimedia support. In the proposed network architecture, nodes are organized into nonoverlapping clusters. The clusters are independently controlled and are dynamically reconfig ..."
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Cited by 556 (11 self)
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changes caused by node motion, node failure and node insertion/removal. Simulation shows that this architecture provides an efficient, stable infrastructure for the integration of different types of traffic in a dynamic radio network. 1.
Probabilistic Roadmaps for Path Planning in HighDimensional Configuration Spaces
 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
, 1996
"... A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collisionfree configurations and whose edg ..."
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Cited by 1276 (124 self)
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A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collisionfree configurations and whose
Shape modeling with front propagation: A level set approach
 IEEE Transactions on Pattern Analysis and Machine Intelligence
, 1995
"... Abstract Shape modeling is an important constituent of computer vision as well as computer graphics research. Shape models aid the tasks of object representation and recognition. This paper presents a new approach to shape modeling which retains some of the attractive features of existing methods ..."
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Cited by 804 (20 self)
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in the vicinity of object boundaries. The resulting equation of motion is solved by employing entropysatisfying upwind finite difference schemes. We present a variety of ways of computing evolving front, including narrow bands, reinitializations, and different stopping criteria. The efficacy of the scheme
Online Maintenance of Visibility and ShortestPath Information
, 1994
"... Given a simple polygon P and a point p 2 P , we show how to maintain the visibility polygon from p, the shortest path tree from p, and the corresponding shortest path partition as p is translated inside P . Given a direction of motion of p, we can determine how far p can move until the first combin ..."
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Cited by 2 (1 self)
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Given a simple polygon P and a point p 2 P , we show how to maintain the visibility polygon from p, the shortest path tree from p, and the corresponding shortest path partition as p is translated inside P . Given a direction of motion of p, we can determine how far p can move until the first
Routing in a delay tolerant network
 Proceedings of ACM Sigcomm
, 2004
"... We formulate the delaytolerant networking routing problem, where messages are to be moved endtoend across a connectivity graph that is timevarying but whose dynamics may be known in advance. The problem has the added constraints of finite buffers at each node and the general property that no con ..."
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Cited by 612 (8 self)
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that no contemporaneous endtoend path may ever exist. This situation limits the applicability of traditional routing approaches that tend to treat outages as failures and seek to find an existing endtoend path. We propose a framework for evaluating routing algorithms in such environments. We then develop several
Results 1  10
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46,838