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738,185
Repeated Path Planning For Mobile Robots In Uncertain Environments
"... In most of realworld applications a mobile robot has to drive repeatedly between predefined start and goal points. The path planning has to be done at runtime to avoid unknown obstacles and therefore an actually followed path can be very different from a planned one. This paper describes a method f ..."
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In most of realworld applications a mobile robot has to drive repeatedly between predefined start and goal points. The path planning has to be done at runtime to avoid unknown obstacles and therefore an actually followed path can be very different from a planned one. This paper describes a method
Probabilistic Roadmaps for Path Planning in HighDimensional Configuration Spaces
 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
, 1996
"... A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collisionfree configurations and whose edg ..."
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Cited by 1276 (124 self)
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edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two
EndtoEnd Routing Behavior in the Internet
, 1996
"... The largescale behavior of routing in the Internet has gone virtually without any formal study, the exception being Chinoy's analysis of the dynamics of Internet routing information [Ch93]. We report on an analysis of 40,000 endtoend route measurements conducted using repeated “traceroutes” ..."
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Cited by 660 (13 self)
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The largescale behavior of routing in the Internet has gone virtually without any formal study, the exception being Chinoy's analysis of the dynamics of Internet routing information [Ch93]. We report on an analysis of 40,000 endtoend route measurements conducted using repeated “traceroutes
Finding the k Shortest Paths
, 1997
"... We give algorithms for finding the k shortest paths (not required to be simple) connecting a pair of vertices in a digraph. Our algorithms output an implicit representation of these paths in a digraph with n vertices and m edges, in time O(m + n log n + k). We can also find the k shortest pat ..."
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Cited by 401 (2 self)
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We give algorithms for finding the k shortest paths (not required to be simple) connecting a pair of vertices in a digraph. Our algorithms output an implicit representation of these paths in a digraph with n vertices and m edges, in time O(m + n log n + k). We can also find the k shortest
Alternatingtime Temporal Logic
 Journal of the ACM
, 1997
"... Temporal logic comes in two varieties: lineartime temporal logic assumes implicit universal quantification over all paths that are generated by system moves; branchingtime temporal logic allows explicit existential and universal quantification over all paths. We introduce a third, more general var ..."
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Cited by 615 (55 self)
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Temporal logic comes in two varieties: lineartime temporal logic assumes implicit universal quantification over all paths that are generated by system moves; branchingtime temporal logic allows explicit existential and universal quantification over all paths. We introduce a third, more general
Theoretical improvements in algorithmic efficiency for network flow problems

, 1972
"... This paper presents new algorithms for the maximum flow problem, the Hitchcock transportation problem, and the general minimumcost flow problem. Upper bounds on ... the numbers of steps in these algorithms are derived, and are shown to compale favorably with upper bounds on the numbers of steps req ..."
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Cited by 565 (0 self)
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required by earlier algorithms. First, the paper states the maximum flow problem, gives the FordFulkerson labeling method for its solution, and points out that an improper choice of flow augmenting paths can lead to severe computational difficulties. Then rules of choice that avoid these difficulties
Routing in a delay tolerant network
 Proceedings of ACM Sigcomm
, 2004
"... We formulate the delaytolerant networking routing problem, where messages are to be moved endtoend across a connectivity graph that is timevarying but whose dynamics may be known in advance. The problem has the added constraints of finite buffers at each node and the general property that no con ..."
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Cited by 612 (8 self)
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that no contemporaneous endtoend path may ever exist. This situation limits the applicability of traditional routing approaches that tend to treat outages as failures and seek to find an existing endtoend path. We propose a framework for evaluating routing algorithms in such environments. We then develop several
A comparative analysis of selection schemes used in genetic algorithms
 Foundations of Genetic Algorithms
, 1991
"... This paper considers a number of selection schemes commonly used in modern genetic algorithms. Specifically, proportionate reproduction, ranking selection, tournament selection, and Genitor (or «steady state") selection are compared on the basis of solutions to deterministic difference or d ..."
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Cited by 512 (32 self)
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or differential equations, which are verified through computer simulations. The analysis provides convenient approximate or exact solutions as well as useful convergence time and growth ratio estimates. The paper recommends practical application of the analyses and suggests a number of paths for more detailed
Directed Diffusion for Wireless Sensor Networking
 IEEE/ACM Transactions on Networking
, 2003
"... Advances in processor, memory and radio technology will enable small and cheap nodes capable of sensing, communication and computation. Networks of such nodes can coordinate to perform distributed sensing of environmental phenomena. In this paper, we explore the directed diffusion paradigm for such ..."
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Cited by 658 (9 self)
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for such coordination. Directed diffusion is datacentric in that all communication is for named data. All nodes in a directed diffusionbased network are applicationaware. This enables diffusion to achieve energy savings by selecting empirically good paths and by caching and processing data innetwork (e.g., data
Practical network support for IP traceback
, 2000
"... This paper describes a technique for tracing anonymous packet flooding attacks in the Internet back towards their source. This work is motivated by the increased frequency and sophistication of denialofservice attacks and by the difficulty in tracing packets with incorrect, or “spoofed”, source ad ..."
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Cited by 666 (14 self)
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addresses. In this paper we describe a general purpose traceback mechanism based on probabilistic packet marking in the network. Our approach allows a victim to identify the network path(s) traversed by attack traffic without requiring interactive operational support from Internet Service Providers (ISPs
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