Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side by side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles

Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of state-of-the-art is improved further. This paper discusses unsolved problems and surveys the technical aspect of automated driving. Studies regarding present challenges, high-level system architectures, emerging methodologies and core functions including localization, mapping, perception, planning, and human machine interfaces, were thoroughly reviewed. Furthermore, many state-of-the-art algorithms were implemented and compared on our own platform in a real-world driving setting. The paper concludes with an overview of available datasets and tools for ADS development.

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

In this chapter, you will see how the simplex method simplifies when it is applied to a class of optimization problems that are known as “network flow models.” You will also see that if a network flow model has “integer-valued data,” the simplex method finds an optimal solution that is integer-valued.

Flows in Networks

We survey recent advances in algorithms for route planning in transportation networks. For road networks, we show that one can compute driving directions in milliseconds or less even at continental scale. A variety of techniques provide different trade-offs between preprocessing effort, space requirements, and query time. Some algorithms can answer queries in a fraction of a microsecond, while others can deal efficiently with real-time traffic. Journey planning on public transportation systems, although conceptually similar, is a significantly harder problem due to its inherent time-dependent and multicriteria nature. Although exact algorithms are fast enough for interactive queries on metropolitan transit systems, dealing with continent-sized instances requires simplifications or heavy preprocessing. The multimodal route planning problem, which seeks journeys combining schedule-based transportation (buses, trains) with unrestricted modes (walking, driving), is even harder, relying on approximate solutions even for metropolitan inputs.

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Route Planning in Transportation Networks

We present an algorithm to compute shortest paths on continental road networks with arbitrary metrics (cost functions). The approach supports turn costs, enables real-time queries, and can incorporate a new metric in a few seconds--fast enough to support real-time traffic updates and personalized optimization functions. The amount of metric-specific data is a small fraction of the graph itself, which allows us to maintain several metrics in memory simultaneously.

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Customizable route planning

Propagation of contagion through networks is a fundamental process. It is used to model the spread of information, influence, or a viral infection. Diffusion patterns can be specified by a probabilistic model, such as Independent Cascade (IC), or captured by a set of representative traces. Basic computational problems in the study of diffusion are influence queries (determining the potency of a specified seed set of nodes) and Influence Maximization (identifying the most influential seed set of a given size). Answering each influence query involves many edge traversals, and does not scale when there are many queries on very large graphs. The gold standard for Influence Maximization is the greedy algorithm, which iteratively adds to the seed set a node maximizing the marginal gain in influence. Greedy has a guaranteed approximation ratio of at least (1-1/e) and actually produces a sequence of nodes, with each prefix having approximation guarantee with respect to the same-size optimum. Since Greedy does not scale well beyond a few million edges, for larger inputs one must currently use either heuristics or alternative algorithms designed for a pre-specified small seed set size. We develop a novel sketch-based design for influence computation. Our greedy Sketch-based Influence Maximization (SKIM) algorithm scales to graphs with billions of edges, with one to two orders of magnitude speedup over the best greedy methods. It still has a guaranteed approximation ratio, and in practice its quality nearly matches that of exact greedy. We also present influence oracles, which use linear-time preprocessing to generate a small sketch for each node, allowing the influence of any seed set to be quickly answered from the sketches of its nodes.

/pdf/sketch-based-influence-maximization-and-computation-scaling-24fm9ileyh.pdf

Sketch-based Influence Maximization and Computation: Scaling up with Guarantees

Propagation of contagion through networks is a fundamental process. It is used to model the spread of information, influence, or a viral infection. Diffusion patterns can be specified by a probabilistic model, such as Independent Cascade (IC), or captured by a set of representative traces. 
Basic computational problems in the study of diffusion are influence queries (determining the potency of a specified seed set of nodes) and Influence Maximization (identifying the most influential seed set of a given size). Answering each influence query involves many edge traversals, and does not scale when there are many queries on very large graphs. The gold standard for Influence Maximization is the greedy algorithm, which iteratively adds to the seed set a node maximizing the marginal gain in influence. Greedy has a guaranteed approximation ratio of at least (1-1/e) and actually produces a sequence of nodes, with each prefix having approximation guarantee with respect to the same-size optimum. Since Greedy does not scale well beyond a few million edges, for larger inputs one must currently use either heuristics or alternative algorithms designed for a pre-specified small seed set size. 
We develop a novel sketch-based design for influence computation. Our greedy Sketch-based Influence Maximization (SKIM) algorithm scales to graphs with billions of edges, with one to two orders of magnitude speedup over the best greedy methods. It still has a guaranteed approximation ratio, and in practice its quality nearly matches that of exact greedy. We also present influence oracles, which use linear-time preprocessing to generate a small sketch for each node, allowing the influence of any seed set to be quickly answered from the sketches of its nodes.

We study the problem of computing all Pareto-optimal journeys in a dynamic public transit network for multiple criteria, such as arrival time and number of transfers. Existing algorithms consider this as a graph problem and solve it using various graph search algorithms. Unfortunately, this leads to either high query times or suboptimal solutions. We take a different approach. We introduce RAPTOR, our novel round-based public transit router. Unlike previous algorithms, it is not Dijkstra-based, looks at each route such as a bus line in the network at most once per round, and can be made even faster with simple pruning rules and parallelization using multiple cores. Because it does not rely on preprocessing, RAPTOR works in fully dynamic scenarios. Starting from arrival time and number of transfers as criteria, it can be easily extended to handle flexible departure times or arbitrary additional criteria. As practical examples we consider fare zones and reliability of transfers. When run on complex public transportation networks such as London, RAPTOR computes all Pareto-optimal journeys between two random locations an order of magnitude faster than previous approaches, which easily enables interactive applications.

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Thomas Pajor

Papers

Route Planning in Transportation Networks

Customizable route planning

Sketch-based Influence Maximization and Computation: Scaling up with Guarantees

Sketch-based Influence Maximization and Computation: Scaling up with Guarantees

Round-Based Public Transit Routing