Pathfinding Algorithms and Implementations on Grid Map
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Pathfinding in Computer Games
The ITB Journal Volume 4 Issue 2 Article 6 2003 Pathfinding in Computer Games Ross Graham Hugh McCabe Stephen Sheridan Follow this and additional works at: https://arrow.tudublin.ie/itbj Part of the Computer and Systems Architecture Commons Recommended Citation Graham, Ross; McCabe, Hugh; and Sheridan, Stephen (2003) "Pathfinding in Computer Games," The ITB Journal: Vol. 4: Iss. 2, Article 6. doi:10.21427/D7ZQ9J Available at: https://arrow.tudublin.ie/itbj/vol4/iss2/6 This Article is brought to you for free and open access by the Ceased publication at ARROW@TU Dublin. It has been accepted for inclusion in The ITB Journal by an authorized administrator of ARROW@TU Dublin. For more information, please contact [email protected], [email protected]. This work is licensed under a Creative Commons Attribution-Noncommercial-Share Alike 4.0 License ITB Journal Pathfinding in Computer Games Ross Graham, Hugh McCabe, Stephen Sheridan School of Informatics & Engineering, Institute of Technology Blanchardstown [email protected], [email protected], [email protected] Abstract One of the greatest challenges in the design of realistic Artificial Intelligence (AI) in computer games is agent movement. Pathfinding strategies are usually employed as the core of any AI movement system. This report will highlight pathfinding algorithms used presently in games and their shortcomings especially when dealing with real-time pathfinding. With the advances being made in other components, such as physics engines, it is AI that is impeding the next generation of computer games. This report will focus on how machine learning techniques such as Artificial Neural Networks and Genetic Algorithms can be used to enhance an agents ability to handle pathfinding in real-time. -
Linear Algebraic Techniques for Spanning Tree Enumeration
LINEAR ALGEBRAIC TECHNIQUES FOR SPANNING TREE ENUMERATION STEVEN KLEE AND MATTHEW T. STAMPS Abstract. Kirchhoff's Matrix-Tree Theorem asserts that the number of spanning trees in a finite graph can be computed from the determinant of any of its reduced Laplacian matrices. In many cases, even for well-studied families of graphs, this can be computationally or algebraically taxing. We show how two well-known results from linear algebra, the Matrix Determinant Lemma and the Schur complement, can be used to elegantly count the spanning trees in several significant families of graphs. 1. Introduction A graph G consists of a finite set of vertices and a set of edges that connect some pairs of vertices. For the purposes of this paper, we will assume that all graphs are simple, meaning they do not contain loops (an edge connecting a vertex to itself) or multiple edges between a given pair of vertices. We will use V (G) and E(G) to denote the vertex set and edge set of G respectively. For example, the graph G with V (G) = f1; 2; 3; 4g and E(G) = ff1; 2g; f2; 3g; f3; 4g; f1; 4g; f1; 3gg is shown in Figure 1. A spanning tree in a graph G is a subgraph T ⊆ G, meaning T is a graph with V (T ) ⊆ V (G) and E(T ) ⊆ E(G), that satisfies three conditions: (1) every vertex in G is a vertex in T , (2) T is connected, meaning it is possible to walk between any two vertices in G using only edges in T , and (3) T does not contain any cycles. -
Teacher's Guide for Spanning and Weighted Spanning Trees
Teacher’s Guide for Spanning and weighted spanning trees: a different kind of optimization by sarah-marie belcastro 1TheMath. Let’s talk about spanning trees. No, actually, first let’s talk about graph theory,theareaof mathematics within which the topic of spanning trees lies. 1.1 Graph Theory Background. Informally, a graph is a collection of vertices (that look like dots) and edges (that look like curves), where each edge joins two vertices. Formally, A graph is a pair G =(V,E), where V is a set of dots and E is a set of pairs of vertices. Here are a few examples of graphs, in Figure 1: e b f a Figure 1: Examples of graphs. Note that the word vertex is singular; its plural is vertices. Two vertices that are joined by an edge are called adjacent. For example, the vertices labeled a and b in the leftmost graph of Figure 1 are adjacent. Two edges that meet at a vertex are called incident. For example, the edges labeled e and f in the leftmost graph of Figure 1 are incident. A subgraph is a graph that is contained within another graph. For example, in Figure 1 the second graph is a subgraph of the fourth graph. You can see this at left in Figure 2 where the subgraph in question is emphasized. Figure 2: More examples of graphs. In a connected graph, there is a way to get from any vertex to any other vertex without leaving the graph. The second graph of Figure 2 is not connected. -
Introduction to Spanning Tree Protocol by George Thomas, Contemporary Controls
Volume6•Issue5 SEPTEMBER–OCTOBER 2005 © 2005 Contemporary Control Systems, Inc. Introduction to Spanning Tree Protocol By George Thomas, Contemporary Controls Introduction powered and its memory cleared (Bridge 2 will be added later). In an industrial automation application that relies heavily Station 1 sends a message to on the health of the Ethernet network that attaches all the station 11 followed by Station 2 controllers and computers together, a concern exists about sending a message to Station 11. what would happen if the network fails? Since cable failure is These messages will traverse the the most likely mishap, cable redundancy is suggested by bridge from one LAN to the configuring the network in either a ring or by carrying parallel other. This process is called branches. If one of the segments is lost, then communication “relaying” or “forwarding.” The will continue down a parallel path or around the unbroken database in the bridge will note portion of the ring. The problem with these approaches is the source addresses of Stations that Ethernet supports neither of these topologies without 1 and 2 as arriving on Port A. This special equipment. However, this issue is addressed in an process is called “learning.” When IEEE standard numbered 802.1D that covers bridges, and in Station 11 responds to either this standard the concept of the Spanning Tree Protocol Station 1 or 2, the database will (STP) is introduced. note that Station 11 is on Port B. IEEE 802.1D If Station 1 sends a message to Figure 1. The addition of Station 2, the bridge will do ANSI/IEEE Std 802.1D, 1998 edition addresses the Bridge 2 creates a loop. -
Sampling Random Spanning Trees Faster Than Matrix Multiplication
Sampling Random Spanning Trees Faster than Matrix Multiplication David Durfee∗ Rasmus Kyng† John Peebles‡ Anup B. Rao§ Sushant Sachdeva¶ Abstract We present an algorithm that, with high probability, generates a random spanning tree from an edge-weighted undirected graph in Oe(n4/3m1/2 + n2) time 1. The tree is sampled from a distribution where the probability of each tree is proportional to the product of its edge weights. This improves upon the previous best algorithm due to Colbourn et al. that runs in matrix ω multiplication time, O(n ). For the special case of unweighted√ graphs, this improves upon the best previously known running time of O˜(min{nω, m n, m4/3}) for m n5/3 (Colbourn et al. ’96, Kelner-Madry ’09, Madry et al. ’15). The effective resistance metric is essential to our algorithm, as in the work of Madry et al., but we eschew determinant-based and random walk-based techniques used by previous algorithms. Instead, our algorithm is based on Gaussian elimination, and the fact that effective resistance is preserved in the graph resulting from eliminating a subset of vertices (called a Schur complement). As part of our algorithm, we show how to compute -approximate effective resistances for a set S of vertex pairs via approximate Schur complements in Oe(m + (n + |S|)−2) time, without using the Johnson-Lindenstrauss lemma which requires Oe(min{(m + |S|)−2, m + n−4 + |S|−2}) time. We combine this approximation procedure with an error correction procedure for handing edges where our estimate isn’t sufficiently accurate. -
Geographic Routing Without Planarization Ben Leong, Barbara Liskov & Robert Morris Require Planarization
Geographic Routing without Planarization Ben Leong, Barbara Liskov & Robert Morris MIT CSAIL Greedy Distributed Spanning Tree Routing (GDSTR) • New geographic routing algorithm – DOES NOT require planarization – uses spanning tree, not planar graph – low maintenance cost – better routing performance than existing algorithms Overview • Background • Problem • Approach • Simulation Results • Conclusion Geographic Routing • Wireless nodes have x-y coordinates – can use virtual coordinates (Rao et al. 2003) • Nodes know coordinates of immediate neighbors • Packet destinations specified with x-y coordinates • In general, forward packets greedily Geographic Routing Geographic Routing Source Geographic Routing Destination Source Greedy Forwarding Destination Source Greedy Forwarding Destination Source Greedy Forwarding Destination Source Greedy Forwarding Destination Source Geographic Routing: Dealing with Dead Ends Destination Source Whoops. Dead end! Face Routing Destination Source Face Routing Destination Source Face Routing Destination Source Back to Greedy Forwarding Destination Source Back to Greedy Forwarding Destination Source Back to Greedy Forwarding Destination Source Planarization is Costly! • Planarization is hard for real networks – GG and RNG don’t work • Planarization is complicated & costly! – CLDP (Kim et al., 2005) Greedy Distributed Spanning Tree Routing (GDSTR) • Route on a spanning tree • Use convex hulls to “summarize” the area covered by a subtree – convex hulls tells us what points are possibly reachable – reduces the -
Branch and Bound Algorithm to Determine the Best Route to Get Around Tokyo
Branch and Bound Algorithm to Determine The Best Route to Get Around Tokyo Muhammad Iqbal Sigid - 13519152 Program Studi Teknik Informatika Sekolah Teknik Elektro dan Informatika Institut Teknologi Bandung, Jalan Ganesha 10 Bandung E-mail: [email protected] Abstract—This paper described using branch and bound Fig. 1. State Space Tree example for Branch and Bound Algorithm (Source: algorithm to determined the best route to get around six selected https://informatika.stei.itb.ac.id/~rinaldi.munir/Stmik/2020-2021/Algoritma- places in Tokyo, modeled after travelling salesman problem. The Branch-and-Bound-2021-Bagian1.pdf accessed May 8, 2021) bound function used is reduced cost matrix using manual calculation and a python program to check the solution. Branch and Bound is an algorithm design which are usually used to solve discrete and combinatorial optimization Keywords—TSP, pathfinding, Tokyo, BnB problems. Branch and bound uses state space tree by expanding its nodes (subset of solution set) based on the minimum or I. INTRODUCTION maximum cost of the active node. There is also a bound which is used to determine if a node can produce a better solution Pathfinding algorithm is used to find the most efficient than the best one so far. If the node cost violates this bound, route between two points. It can be the shortest, the cheapest, then the node will be eliminated and will not be expanded the faster, or other kind. Pathfinding is closely related to the further. shortest path problem, graph theory, or mazes. Pathfinding usually used a graph as a representation. The nodes represent a Branch and bound algorithm is quite similar to Breadth place to visit and the edges represent the nodes connectivity. -
1.1 Introduction 1.2 Spanning Trees
Lecture notes from Foundations of Markov chain Monte Carlo methods University of Chicago, Spring 2002 Lecture 1, March 29, 2002 Eric Vigoda Scribe: Varsha Dani & Tom Hayes 1.1 Introduction The aim of this course is to address the complexity of counting and sampling problems from an algorithmic perspective. Typically we will be interested in counting the size of a collection of combinatorial structures of a graph, e.g., the number of spanning trees of a graph. We will soon see that this style of counting problem is intimately related to the sampling problem which asks for a random structure from this collection, e.g., generate a random spanning tree. The course will demonstrate that the class of counting and sampling problems can be addressed in a very cohesive and elegant (at least to my tastes) manner. In this lecture we study some classical algorithms for exact counting. There are few problems which admit efficient algorithms for the exact counting version. In most cases we will have to settle for approximation algorithms. It is interesting to note that both of the algorithms presented in this lecture rely on a reduction to the determinant. This is the case for virtually all (of the very few known) exact counting algorithms. For the two problems considered in this lecture we will show a reduction to the determinant. Consequently both of these problems can be solved in O(n3) time where n is the number of vertices in the input graph. 1.2 Spanning Trees Our first theorem is known as Kirchoff’s Matrix-Tree Theorem [2], and dates back over 150 years. -
Spanning Simplicial Complexes of Uni-Cyclic Multigraphs 3
SPANNING SIMPLICIAL COMPLEXES OF UNI-CYCLIC MULTIGRAPHS IMRAN AHMED, SHAHID MUHMOOD Abstract. A multigraph is a nonsimple graph which is permitted to have multiple edges, that is, edges that have the same end nodes. We introduce the concept of spanning simplicial complexes ∆s(G) of multigraphs G, which provides a generalization of spanning simplicial complexes of associated simple graphs. We give first the characterization of all spanning trees of a r n r uni-cyclic multigraph Un,m with edges including multiple edges within and outside the cycle of length m. Then, we determine the facet ideal I r r F (∆s(Un,m)) of spanning simplicial complex ∆s(Un,m) and its primary decomposition. The Euler characteristic is a well-known topological and homotopic invariant to classify surfaces. Finally, we device a formula for r Euler characteristic of spanning simplicial complex ∆s(Un,m). Key words: multigraph, spanning simplicial complex, Euler characteristic. 2010 Mathematics Subject Classification: Primary 05E25, 55U10, 13P10, Secondary 06A11, 13H10. 1. Introduction Let G = G(V, E) be a multigraph on the vertex set V and edge-set E. A spanning tree of a multigraph G is a subtree of G that contains every vertex of G. We represent the collection of all edge-sets of the spanning trees of a multigraph G by s(G). The facets of spanning simplicial complex ∆s(G) is arXiv:1708.05845v1 [math.AT] 19 Aug 2017 exactly the edge set s(G) of all possible spanning trees of a multigraph G. Therefore, the spanning simplicial complex ∆s(G) of a multigraph G is defined by ∆s(G)= hFk | Fk ∈ s(G)i, which gives a generalization of the spanning simplicial complex ∆s(G) of an associated simple graph G. -
Enumerating Spanning Trees
University of Tennessee, Knoxville TRACE: Tennessee Research and Creative Exchange Masters Theses Graduate School 8-2003 Enumerating spanning trees Michelle Renee Brown Follow this and additional works at: https://trace.tennessee.edu/utk_gradthes Recommended Citation Brown, Michelle Renee, "Enumerating spanning trees. " Master's Thesis, University of Tennessee, 2003. https://trace.tennessee.edu/utk_gradthes/5199 This Thesis is brought to you for free and open access by the Graduate School at TRACE: Tennessee Research and Creative Exchange. It has been accepted for inclusion in Masters Theses by an authorized administrator of TRACE: Tennessee Research and Creative Exchange. For more information, please contact [email protected]. To the Graduate Council: I am submitting herewith a thesis written by Michelle Renee Brown entitled "Enumerating spanning trees." I have examined the final electronic copy of this thesis for form and content and recommend that it be accepted in partial fulfillment of the equirr ements for the degree of Master of Science, with a major in Mathematics. Reid Davis, Major Professor We have read this thesis and recommend its acceptance: Accepted for the Council: Carolyn R. Hodges Vice Provost and Dean of the Graduate School (Original signatures are on file with official studentecor r ds.) To the Graduate Council: I am submitting herewith a thesis written by Michelle R. Brown entitled "Enumerating Spanning Trees." I have examined the final paper copy of this thesis for form and content and recommend that it be accepted in partial fulfillment of the requirements for the degreeof Master of Science, with a major in Mathematics. Reid Davis, Major Professor We have read this thesis and recommend its acceptance: Acceptancefor the Council: ENUMERATING SPANNING TREES A Thesis Presented for the Master of Science Degree The University of Tennessee, Knoxville Michelle R. -
Memory-Constrained Pathfinding Algorithms for Partially-Known Environments
University of Windsor Scholarship at UWindsor Electronic Theses and Dissertations Theses, Dissertations, and Major Papers 2007 Memory-constrained pathfinding algorithms for partially-known environments Denton Cockburn University of Windsor Follow this and additional works at: https://scholar.uwindsor.ca/etd Recommended Citation Cockburn, Denton, "Memory-constrained pathfinding algorithms for partially-known environments" (2007). Electronic Theses and Dissertations. 4672. https://scholar.uwindsor.ca/etd/4672 This online database contains the full-text of PhD dissertations and Masters’ theses of University of Windsor students from 1954 forward. These documents are made available for personal study and research purposes only, in accordance with the Canadian Copyright Act and the Creative Commons license—CC BY-NC-ND (Attribution, Non-Commercial, No Derivative Works). Under this license, works must always be attributed to the copyright holder (original author), cannot be used for any commercial purposes, and may not be altered. Any other use would require the permission of the copyright holder. Students may inquire about withdrawing their dissertation and/or thesis from this database. For additional inquiries, please contact the repository administrator via email ([email protected]) or by telephone at 519-253-3000ext. 3208. Memory-Constrained Pathfinding Algorithms for Partially-Known Environments by Denton Cockbum A Thesis Submitted to the Faculty of Graduate Studies through The School of Computer Science in Partial Fulfillment of the -
Minimum Perfect Bipartite Matchings and Spanning Trees Under Categorization
View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Elsevier - Publisher Connector Discrete Applied Mathematics 39 (1992) 147- 153 147 North-Holland Minimum perfect bipartite matchings and spanning trees under categorization Michael B. Richey Operations Research & Applied Statistics Department, George Mason University, Fairfax, VA 22030, USA Abraham P. Punnen Mathematics Department, Indian Institute of Technology. Kanpur-208 016, India Received 2 February 1989 Revised 1 May 1990 Abstract Richey, M.B. and A.P. Punnen, Minimum perfect bipartite mats-Yngs and spanning trees under catego- rization, Discrete Applied Mathematics 39 (1992) 147-153. Network optimization problems under categorization arise when the edge set is partitioned into several sets and the objective function is optimized over each set in one sense, then among the sets in some other sense. Here we find that unlike some other problems under categorization, the minimum perfect bipar- tite matching and minimum spanning tree problems (under categorization) are NP-complete, even on bipartite outerplanar graphs. However for one objective function both problems can be solved in polynomial time on arbitrary graphs if the number of sets is fixed. 1. Introduction In operations research and in graph-theoretic optimization, two types of objective functions have dominated the attention of researchers, namely optimization of the weighted sum of the variables and optimization of the most extreme value of the variables. Recently the following type of (minimization) objective function has appeared in the literature [1,6,7,14]: divide the variables into categories, find the Correspondence to: Professor M.B. Richey, Operations Research & Applied Statistics Department, George Mason University, Fairfax, VA 22030, USA.