Simple and efficient bi-objective search algorithms via fast dominance checks

Hernández, Carlos; Yeoh, William; Baier, Jorge A.; Zhang, Han; Suazo, Luis; Koenig, Sven; Salzman, Oren

doi:10.1016/j.artint.2022.103807

Cited by 15 publications

(38 citation statements)

References 31 publications

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“…The authors in [33] introduce efficient, constant-time, dominance tests between labels in labeling algorithms for the BOSPP. The new dominance tests are combined with an algorithm based on the procedure A*.…”

Section: Labeling Techniquesmentioning

confidence: 99%

“…Specific examples of such computational studies are in references [18,157,170,171]. Also, in a few of the methodological papers in Section 2, real-world applications are presented, see for instance [33,118]. Furthermore, it would be clearly important to evaluate the possible merits and disadvantages of the multiple types of multiobjective routing methods proposed in the literature, in real-world network applications.…”

Section: Conclusion and Trendsmentioning

confidence: 99%

See 1 more Smart Citation

Multiobjective Path Problems and Algorithms in Telecommunication Network Design—Overview and Trends

Craveirinha,

Clímaco,

Girão-Silva

et al. 2024

Algorithms

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A major area of application of multiobjective path problems and resolution algorithms is telecommunication network routing design, taking into account the extremely rapid technological and service evolutions. The need for explicit consideration of heterogeneous Quality of Service metrics makes it advantageous for the development of routing models where various technical–economic aspects, often conflicting, should be tackled. Our work is focused on multiobjective path problem formulations and resolution methods and their applications to routing methods. We review basic concepts and present main formulations of multiobjective path problems, considering different types of objective functions. We outline the different types of resolution methods for these problems, including a classification and overview of relevant algorithms concerning different types of problems. Afterwards, we outline background concepts on routing models and present an overview of selected papers considered as representative of different types of applications of multiobjective path problem formulations and algorithms. A broad characterization of major types of path problems relevant in this context is shown regarding the overview of contributions in different technological and architectural network environments. Finally, we outline research trends in this area, in relation to recent technological evolutions in communication networks.

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Section: Labeling Techniquesmentioning

confidence: 99%

Section: Conclusion and Trendsmentioning

confidence: 99%

Multiobjective Path Problems and Algorithms in Telecommunication Network Design—Overview and Trends

Craveirinha,

Clímaco,

Girão-Silva

et al. 2024

Algorithms

View full text Add to dashboard Cite

show abstract

“…However, it is possible to compute a fully polynomial-time approximation scheme (FPTAS) for many cases (Tsaggouris and Zaroliagis 2009). For additional results on path planning with multiple objectives or when the cost function does not have an optimal substructure, see for example, (Chen and Nie 2013; Reinhardt and Pisinger 2011; Hernández et al, 2023) and references within.…”

Section: Related Workmentioning

confidence: 99%

Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps

Kuntz

Salzman

et al. 2023

The International Journal of Robotics Research

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Inspection planning, the task of planning motions for a robot that enable it to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robotics. Inspection planning can be computationally challenging, as the search space over motion plans grows exponentially with the number of points of interest to inspect. We propose a novel method, Incremental Random Inspection-roadmap Search (IRIS), that computes inspection plans whose length and set of successfully inspected points asymptotically converge to those of an optimal inspection plan. IRIS incrementally densifies a motion-planning roadmap using a sampling-based algorithm and performs efficient near-optimal graph search over the resulting roadmap as it is generated. We prove the resulting algorithm is asymptotically optimal under very general assumptions about the robot and the environment. We demonstrate IRIS’s efficacy on a simulated inspection task with a planar five DOF manipulator, on a simulated bridge inspection task with an Unmanned Aerial Vehicle (UAV), and on a medical endoscopic inspection task for a continuum parallel surgical robot in cluttered human anatomy. In all these systems IRIS computes higher-quality inspection plans orders of magnitudes faster than a prior state-of-the-art method.

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“…Mengyu Fu  https://orcid.org/0000-0002-5237-1220 Kiril Solovey  https://orcid.org/0000-0003-0254-0572 Ron Alterovitz  https://orcid.org/0000-0002-4492-1384 Notes 1. Our definition of a finer resolution is identical to the notion of dominance in the study of multi-objective optimization (see, e.g., Hernández et al (2023)). 2.…”

Section: Orcid Idsmentioning

confidence: 99%

“… 1. Our definition of a finer resolution is identical to the notion of dominance in the study of multi-objective optimization (see, e.g., Hernández et al ( 2023 )). …”

mentioning

confidence: 99%

Toward certifiable optimal motion planning for medical steerable needles

Solovey

Salzman

et al. 2023

The International Journal of Robotics Research

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Medical steerable needles can follow 3D curvilinear trajectories to avoid anatomical obstacles and reach clinically significant targets inside the human body. Automating steerable needle procedures can enable physicians and patients to harness the full potential of steerable needles by maximally leveraging their steerability to safely and accurately reach targets for medical procedures such as biopsies. For the automation of medical procedures to be clinically accepted, it is critical from a patient care, safety, and regulatory perspective to certify the correctness and effectiveness of the planning algorithms involved in procedure automation. In this paper, we take an important step toward creating a certifiable optimal planner for steerable needles. We present an efficient, resolution-complete motion planner for steerable needles based on a novel adaptation of multi-resolution planning. This is the first motion planner for steerable needles that guarantees to compute in finite time an obstacle-avoiding plan (or notify the user that no such plan exists), under clinically appropriate assumptions. Based on this planner, we then develop the first resolution-optimal motion planner for steerable needles that further provides theoretical guarantees on the quality of the computed motion plan, that is, global optimality, in finite time. Compared to state-of-the-art steerable needle motion planners, we demonstrate with clinically realistic simulations that our planners not only provide theoretical guarantees but also have higher success rates, have lower computation times, and result in higher quality plans.

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Simple and efficient bi-objective search algorithms via fast dominance checks

Cited by 15 publications

References 31 publications

Multiobjective Path Problems and Algorithms in Telecommunication Network Design—Overview and Trends

Multiobjective Path Problems and Algorithms in Telecommunication Network Design—Overview and Trends

Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps

Toward certifiable optimal motion planning for medical steerable needles

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