Tansel Uras
YOU?
Author Swipe
Fast Near-Optimal Path Planning on State Lattices with Subgoal Graphs Open
Subgoal graphs can be constructed on top of graphs during a preprocessing phase to speed-up shortest path queries. They have an undominated query-time/memory trade-off in the Grid-Based Path Planning Competitions. While grids are useful fo…
An Empirical Comparison of Any-Angle Path-Planning Algorithms Open
We compare five any-angle path-planning algorithms, Theta*, Block A*, Field D*, ANYA, and Any-Angle Subgoal Graphs in terms of solution quality and runtime. Any-angle path-planning is a fairly new research area, and no direct comparison ex…
Toward a String-Pulling Approach to Path Smoothing on Grid Graphs Open
Paths found on grid graphs are often unrealistic looking in the continuous environment that the grid graph represents and often need to be smoothed after a search. The well-known algorithm for path smoothing is greedy in nature and does no…
Optimal and Bounded-Suboptimal Multi-Agent Motion Planning Open
Multi-Agent Motion Planning (MAMP) is the task of finding conflict-free kinodynamically feasible plans for agents from start to goal states. While MAMP is of significant practical importance, existing solvers are either incomplete, ineffic…
Feasibility Study: Subgoal Graphs on State Lattices Open
Search using subgoal graphs is a recent preprocessing-based path-planning algorithm that can find shortest paths on 8-neighbor grids several orders of magnitude faster than A*, while requiring little preprocessing time and memory overhead.…
Feasibility Study: Using Highways for Bounded-Suboptimal Multi-Agent Path Finding Open
Multi-agent path-finding (MAPF) is important for applications such as the kind of warehousing done by Kiva systems. Solving the problem optimally is NP-hard, yet finding low-cost solutions is important. Bounded-suboptimal MAPF algorithms, …
The Grid-Based Path Planning Competition: 2014 Entries and Results Open
The Grid-Based Path Planning Competition has just completed its third iteration. The entriesused in the competition have improved significantly during this time, changing the view ofthe state of the art of grid-based pathfinding. Furthermo…
Identifying Hierarchies for Fast Optimal Search Open
For some search problems, the graph is known beforehand and there is time to preprocess the graph to make the search faster. One such example is video games, where one can often preprocess maps before a game is released or while a map is l…
Subgoal Graphs for Eight-Neighbor Gridworlds Open
We propose a method for preprocessing an eight-neighbor gridworld to generate a subgoal graph and a method for using this subgoal graph to find shortest paths faster than A*, by first finding high-level paths through subgoals and then shor…
Paper Summary: Time-Bounded Adaptive A* Open
This paper summarizes our AAMAS 2012 paper on "Time-Bounded Adaptive A*," which introduces the game time model to evaluate search algorithms in real-time settings, such as video games. It then extends the existing real-time search algorith…
Position Paper: Incremental Search Algorithms Considered Poorly Understood Open
Incremental search algorithms, such as D* Lite, reuse information from previous searches to speed up the current search and can thus solve sequences of similar search problems faster than Repeated A*, which performs repeated A* searches. I…
Genome Rearrangement and Planning: Revisited Open
Evolutionary trees of species can be reconstructed by pairwise comparison of their entire genomes. Such a comparison can be quantified by determining the number of events that change the order of genes in a genome. Earlier Erdem and Tillie…
Teaching Undergraduate Artificial Intelligence Classes: An Experiment with an Attendance Requirement Open
We report on an experiment that we performed when we taught the undergraduate artificial intelligence class at the University of Southern California. We taught it – under very similar conditions – once with and once without an attendance r…
Regarding Jump Point Search and Subgoal Graphs Open
In this paper, we define Jump Point Graphs (JP), a preprocessing-based path-planning technique similar to Subgoal Graphs (SG). JP allows for the first time the combination of Jump Point Search style pruning in the context of abstraction-ba…
Understanding Subgoal Graphs by Augmenting Contraction Hierarchies Open
Contraction hierarchies and (N-level) subgoal graphs are two preprocessing-based path-planning algorithms that have so far only been compared experimentally through the grid-based path-planning competitions, where both algorithms had undom…
The FastMap Algorithm for Shortest Path Computations Open
We present a new preprocessing algorithm for embedding the nodes of a given edge-weighted undirected graph into a Euclidean space. The Euclidean distance between any two nodes in this space approximates the length of the shortest path betw…
View article: Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems
Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems Open
The authors present an overview of a hierarchical framework for coordinating\ntask- and motion-level operations in multirobot systems. Their framework is\nbased on the idea of using simple temporal networks to simultaneously reason\nabout …
View article: Table of contents
Table of contents Open
perceive, reason, learn, and act intelligently.
View article: Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios
Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios Open
Multi-agent path finding (MAPF) is well-studied in artificial intelligence, robotics, theoretical computer science and operations research. We discuss issues that arise when generalizing MAPF methods to real-world scenarios and four resear…