2019
DOI: 10.5201/ipol.2019.227
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Hamiltonian Fast Marching: A Numerical Solver for Anisotropic and Non-Holonomic Eikonal PDEs

Abstract: We introduce a generalized Fast-Marching algorithm, able to compute paths globally minimizing a measure of length, defined with respect to a variety of metrics in dimension two to five. Our method applies in particular to arbitrary Riemannian metrics, and implements features such as second order accuracy, sensitivity analysis, and various stopping criteria. We also address the singular metrics associated with several non-holonomic control models, related with curvature penalization, such as the Reeds-Shepp's c… Show more

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Cited by 38 publications
(48 citation statements)
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“…This can be done for the isotropic case (where ξ ( x , ν ) is independent of ν ) using for example the supergradient marching algorithm of Benmansour et al, 20 which applies automatic differentiation to a fast‐marching algorithm 21 . One approach to the anisotropic case could be to generalise Benmansour et al 20 to anisotropic metrics, using an anisotropic fast‐marching algorithm such as those presented in other studies, 8,22,23 but we do not pursue this here.…”
Section: Derivation Of the Inverse Problemsmentioning
confidence: 99%
“…This can be done for the isotropic case (where ξ ( x , ν ) is independent of ν ) using for example the supergradient marching algorithm of Benmansour et al, 20 which applies automatic differentiation to a fast‐marching algorithm 21 . One approach to the anisotropic case could be to generalise Benmansour et al 20 to anisotropic metrics, using an anisotropic fast‐marching algorithm such as those presented in other studies, 8,22,23 but we do not pursue this here.…”
Section: Derivation Of the Inverse Problemsmentioning
confidence: 99%
“…Computing geodesic distances in two and higher dimensional models in a robust manner is challenging due to complex forms that the geodesic equations may take. Recent advances in [ 21 , 42 ] have overcame some of these issues by focusing on solving for the distance function first from which minimal geodesic paths are extracted. Specifically, the author develops numerical schemes to solve Eikonal equations for the distance function of a Riemannian manifold numerically on uniform grids.…”
Section: Higher Dimensional Examplesmentioning
confidence: 99%
“…However, coordinate transformations to and from normal coordinates make this technique quite complicated. We will utilize simple robust methods for computing geodesic distances in model spaces of dimension two to four developed in [ 21 ]. Here, the authors construct a Hamiltonian Fast Marching technique that solves an Eikonal equation for the distance function of a Riemannian manifold.…”
Section: Introductionmentioning
confidence: 99%
“…The directional derivatives are then approximated using upwind finite differences as in (2.4) below, and the coupled system of equations resulting from the discretized PDE is solved in a single pass over the domain [65]. It would be too long to describe here the approximation procedure [63,65] yielding (2.3), which involves a relaxation parameter ε > 0 and techniques from algorithmic geometry. Nevertheless let us mention the meta parameters (I, J, K) used: Reeds-Shepp (1, 3, 1), Euler-Mumford (0, 27, 1), Dubins (0, 6, 2).…”
Section: Globally Optimal Paths With a Curvature Penaltymentioning
confidence: 99%