1 research outputs found
Faster and More Robust Mesh-based Algorithms for Obstacle k-Nearest Neighbour
We are interested in the problem of finding nearest neighbours in the
plane and in the presence of polygonal obstacles (). Widely used
algorithms for OkNN are based on incremental visibility graphs, which means
they require costly and online visibility checking and have worst-case
quadratic running time. Recently , a fast point-to-point
pathfinding algorithm was proposed which avoids the disadvantages of visibility
graphs by searching over an alternative data structure known as a navigation
mesh. Previously, we adapted to multi-target scenarios by
developing two specialised heuristic functions: the and the . Though these
methods outperform visibility graph algorithms by orders of magnitude in all
our experiments they are not robust: expands many redundant nodes when
the set of neighbours is small while performs poorly when the set of
neighbours is large. In this paper, we propose new algorithms and heuristics
for OkNN which perform well regardless of neighbour density.Comment: submitted on Journal of Artificial Intelligence Research 201