Trajectory Planning on Grids: Considering Speed Limit Constraints

Trajectory (path) planning is a well known and thoroughly studied field of automated planning. It is usually used in computer games, robotics or autonomous agent simulations. Grids are often used for regular discretization of continuous space. Many methods exist for trajectory (path) planning on grids, we address the well known A* algorithm and the state-of-the-art Theta* algorithm. Theta* algorithm, as opposed to A*, provides ‘any-angle‘ paths that look more realistic. In this paper, we provide an extension of both these algorithms to enable support for speed limit constraints.We experimentally evaluate and thoroughly discuss how the extensions affect the planning process showing reasonability and justification of our approach

Space Saving by Dynamic Algebraization

Dynamic programming is widely used for exact computations based on tree decompositions of graphs. However, the space complexity is usually exponential in the treewidth. We study the problem of designing efficient dynamic programming algorithm based on tree decompositions in polynomial space. We show how to construct a tree decomposition and extend the algebraic techniques of Lokshtanov and Nederlof such that the dynamic programming algorithm runs in time $O^*(2^h)$, where $h$ is the maximum number of vertices in the union of bags on the root to leaf paths on a given tree decomposition, which is a parameter closely related to the tree-depth of a graph. We apply our algorithm to the problem of counting perfect matchings on grids and show that it outperforms other polynomial-space solutions. We also apply the algorithm to other set covering and partitioning problems.Comment: 14 pages, 1 figur

Any-Angle Pathfinding for Multiple Agents Based on SIPP Algorithm

The problem of finding conflict-free trajectories for multiple agents of identical circular shape, operating in shared 2D workspace, is addressed in the paper and decoupled, e.g., prioritized, approach is used to solve this problem. Agents' workspace is tessellated into the square grid on which any-angle moves are allowed, e.g. each agent can move into an arbitrary direction as long as this move follows the straight line segment whose endpoints are tied to the distinct grid elements. A novel any-angle planner based on Safe Interval Path Planning (SIPP) algorithm is proposed to find trajectories for an agent moving amidst dynamic obstacles (other agents) on a grid. This algorithm is then used as part of a prioritized multi-agent planner AA-SIPP(m). On the theoretical, side we show that AA-SIPP(m) is complete under well-defined conditions. On the experimental side, in simulation tests with up to 200 agents involved, we show that our planner finds much better solutions in terms of cost (up to 20%) compared to the planners relying on cardinal moves only.Comment: Final version as submitted to ICAPS-2017 (main track); 8 pages; 4 figures; 1 algorithm; 2 table

Hierarchical path-finding for Navigation Meshes (HNA*)

Path-finding can become an important bottleneck as both the size of the virtual environments and the number of agents navigating them increase. It is important to develop techniques that can be efficiently applied to any environment independently of its abstract representation. In this paper we present a hierarchical NavMesh representation to speed up path-finding. Hierarchical path-finding (HPA*) has been successfully applied to regular grids, but there is a need to extend the benefits of this method to polygonal navigation meshes. As opposed to regular grids, navigation meshes offer representations with higher accuracy regarding the underlying geometry, while containing a smaller number of cells. Therefore, we present a bottom-up method to create a hierarchical representation based on a multilevel k-way partitioning algorithm (MLkP), annotated with sub-paths that can be accessed online by our Hierarchical NavMesh Path-finding algorithm (HNA*). The algorithm benefits from searching in graphs with a much smaller number of cells, thus performing up to 7.7 times faster than traditional A¿ over the initial NavMesh. We present results of HNA* over a variety of scenarios and discuss the benefits of the algorithm together with areas for improvement.Peer ReviewedPostprint (author's final draft

Parameterization Above a Multiplicative Guarantee

Parameterization above a guarantee is a successful paradigm in Parameterized Complexity. To the best of our knowledge, all fixed-parameter tractable problems in this paradigm share an additive form defined as follows. Given an instance (I,k) of some (parameterized) problem ? with a guarantee g(I), decide whether I admits a solution of size at least (at most) k+g(I). Here, g(I) is usually a lower bound (resp. upper bound) on the maximum (resp. minimum) size of a solution. Since its introduction in 1999 for Max SAT and Max Cut (with g(I) being half the number of clauses and half the number of edges, respectively, in the input), analysis of parameterization above a guarantee has become a very active and fruitful topic of research. We highlight a multiplicative form of parameterization above a guarantee: Given an instance (I,k) of some (parameterized) problem ? with a guarantee g(I), decide whether I admits a solution of size at least (resp. at most) k ? g(I). In particular, we study the Long Cycle problem with a multiplicative parameterization above the girth g(I) of the input graph, and provide a parameterized algorithm for this problem. Apart from being of independent interest, this exemplifies how parameterization above a multiplicative guarantee can arise naturally. We also show that, for any fixed constant ?>0, multiplicative parameterization above g(I)^(1+?) of Long Cycle yields para-NP-hardness, thus our parameterization is tight in this sense. We complement our main result with the design (or refutation of the existence) of algorithms for other problems parameterized multiplicatively above girth

Escaping a grid by edge-disjoint paths

We study the edge-disjoint escape problem in grids: Given a set of n sources in a two-dimensional grid, the problem is to connect all sources to the grid boundary using a set of n edge-disjoint paths. Different from the conventional approach that reduces the problem to network flow problem, we solve the problem by ensuring that no rectangles in the grid contain more sources than outlets, a necessary and sufficient condition for the existence of a solution. Based on this condition, we give a greedy algorithm which finds the paths in O(n2) time, which is faster than the previous approaches. This problem has applications in point-to-point delivery, VLSI reconfiguration and package routing.published_or_final_versio

Symmetry-Based Search Space Reduction For Grid Maps

In this paper we explore a symmetry-based search space reduction technique which can speed up optimal pathfinding on undirected uniform-cost grid maps by up to 38 times. Our technique decomposes grid maps into a set of empty rectangles, removing from each rectangle all interior nodes and possibly some from along the perimeter. We then add a series of macro-edges between selected pairs of remaining perimeter nodes to facilitate provably optimal traversal through each rectangle. We also develop a novel online pruning technique to further speed up search. Our algorithm is fast, memory efficient and retains the same optimality and completeness guarantees as searching on an unmodified grid map