Efficient motion planning for problems lacking optimal substructure

We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We suggest a natural cost function that balances path length and risk-exposure time. Specifically, we consider the discrete setting where we are given a graph, or a roadmap, and we wish to compute the minimal-cost path under this cost function. Interestingly, paths defined using our cost function do not have an optimal substructure. Namely, subpaths of an optimal path are not necessarily optimal. Thus, the Bellman condition is not satisfied and standard graph-search algorithms such as Dijkstra cannot be used. We present a path-finding algorithm, which can be seen as a natural generalization of Dijkstra's algorithm. Our algorithm runs in $O\left((n_B\cdot n) \log( n_B\cdot n) + n_B\cdot m\right)$ time, where~$n$ and $m$ are the number of vertices and edges of the graph, respectively, and $n_B$ is the number of intersections between edges and the boundary of the risk zone. We present simulations on robotic platforms demonstrating both the natural paths produced by our cost function and the computational efficiency of our algorithm

Decremental All-Pairs ALL Shortest Paths and Betweenness Centrality

We consider the all pairs all shortest paths (APASP) problem, which maintains the shortest path dag rooted at every vertex in a directed graph G=(V,E) with positive edge weights. For this problem we present a decremental algorithm (that supports the deletion of a vertex, or weight increases on edges incident to a vertex). Our algorithm runs in amortized O(\vstar^2 \cdot \log n) time per update, where n=|V|, and \vstar bounds the number of edges that lie on shortest paths through any given vertex. Our APASP algorithm can be used for the decremental computation of betweenness centrality (BC), a graph parameter that is widely used in the analysis of large complex networks. No nontrivial decremental algorithm for either problem was known prior to our work. Our method is a generalization of the decremental algorithm of Demetrescu and Italiano [DI04] for unique shortest paths, and for graphs with \vstar =O(n), we match the bound in [DI04]. Thus for graphs with a constant number of shortest paths between any pair of vertices, our algorithm maintains APASP and BC scores in amortized time O(n^2 \log n) under decremental updates, regardless of the number of edges in the graph.Comment: An extended abstract of this paper will appear in Proc. ISAAC 201