Project "Any-Angle Path Planning"
(scroll down for publications)

In robotics or video games, one often discretizes continuous terrain into grids with blocked and unblocked cells and then uses search methods to find shortest paths on the resulting grids, which is fast. However, these paths are not shortest paths in the continuous terrain. Search methods on visibility graphs find shortest paths in two-dimensional (but not three-dimensional) continuous terrain. However, this is slow since the number of edges of visibility graphs can be quadratic in the number of vertices. We have therefore developed versions of A* that propagate information only along grid edges (to achieve small runtimes) but without constraining the paths to grid edges (to find short paths).

Tutorial

Visualization

Code

Class Project

Representative Overview Publications

Representative Publications

Dissertation


Part of this material is based upon research supported by the National Science Foundation under grant number IIS-1319966 and by Northrop Grumman via a fellowship to Alex Nash. Any opinions, findings, and conclusions or recomendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the sponsoring organizations.

If you have comments on any of these papers, please send me an email! Also, please send me your papers if we have common interests.

This page was automatically created by a bibliography maintenance system that was developed as part of an undergraduate research project, advised by Sven Koenig.


Home Page of Sven Koenig