Title:
On Finding Globally Optimal Paths through Weighted Colored Graphs
On Finding Globally Optimal Paths through Weighted Colored Graphs
| dc.contributor.author | Wooden, David | |
| dc.contributor.author | Egerstedt, Magnus B. | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.date.accessioned | 2011-04-20T19:47:55Z | |
| dc.date.available | 2011-04-20T19:47:55Z | |
| dc.date.issued | 2006-12 | |
| dc.description | (c) 2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Digital Object Identifier : 10.1109/CDC.2006.377172 | |
| dc.description.abstract | In this paper, we present a method for finding a globally optimal path through a colored graph. Optimal here means that, for a given path, the induced path coloring corresponds to an equivalent class. A total ordering is placed over these equivalent classes, and the edge weights are simply tie breakers within the classes. Optimality is achieved by mapping the class, or color, of each edge in combination with its weight to a real number. As a result, optimal paths can be computed using just the new weight function and standard edge relaxation methods (e.g. Dijkstra’s Algorithm). The motivation for this research is the task of planning paths for mobile autonomous robots through outdoor environments with unknown and varied terrain. | en_US |
| dc.identifier.citation | D. Wooden and M. Egerstedt. On Finding Globally Optimal Paths through Weighted Colored Graphs. IEEE Conference on Decision and Control, pp. 1948-1953, San Diego, CA, Dec. 2006. | en_US |
| dc.identifier.isbn | 1-4244-0171-2 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38646 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Mobile robots | en_US |
| dc.subject | Path planning | en_US |
| dc.subject | Navigation | en_US |
| dc.title | On Finding Globally Optimal Paths through Weighted Colored Graphs | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Egerstedt, Magnus B. | |
| local.contributor.corporatename | School of Electrical and Computer Engineering | |
| local.contributor.corporatename | College of Engineering | |
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