Muestra la distribución de disciplinas para esta publicación.
Publicaciones WoS (Ediciones: ISSHP, ISTP, AHCI, SSCI, SCI), Scopus, SciELO Chile.
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| DOI | |||
| Año | 2018 | ||
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Citas Totales
Autores Afiliación Chile
Instituciones Chile
% Participación
Internacional
Autores
Afiliación Extranjera
Instituciones
Extranjeras
The 2kneighborhood has been recently proposed as an alternative to optimal any-angle path planning over grids. Even though it has been observed empirically that the quality of solutions approaches the cost of an optimal any-angle path as k is increased, no theoretical bounds were known. In this paper we study the ratio between the solutions obtained by an any-angle path and the optimal path in the 2kneighborhood. We derive a suboptimality bound, as a function of k, that generalizes previously known bounds for the 4- and 8- connected grids. We analyze two cases: when vertices of the search graph are placed (1) at the corners of grid cells, and (2) when they are located at their centers. For case (1) we obtain a suboptimality bound of 1 + 1/8k2+ O(1/k3), which is tight; for (2), however, worst-case suboptimality is a fixed value, for every k = 3. Our results strongly suggests that vertices need to be placed in corners in order to obtain near-optimal solutions. In an empirical analysis, we compare theoretical and experimental suboptimality.
| Ord. | Autor | Género | Institución - País |
|---|---|---|---|
| 1 | Kramm, Benjamin | - |
Pontificia Universidad Católica de Chile - Chile
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| 2 | Rivera, Nicolas | Hombre |
University of Cambridge - Reino Unido
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| 3 | HERNANDEZ-ULLOA, CARLOS MARCELO | Hombre |
Universidad Nacional Andrés Bello - Chile
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| 4 | BAIER-ARANDA, JORGE ANDRES | Hombre |
Pontificia Universidad Católica de Chile - Chile
Instituto Milenio Fundamentos de los Datos - Chile |