A discrete harmonic potential field for optimum point-to-point routing on a weighted graph

Ahmad A. Masoud

doi:10.1109/IROS.2006.282218

A discrete harmonic potential field for optimum point-to-point routing on a weighted graph

Ahmad A. Masoud^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

In this paper an attempt is made to adapt the harmonic potential field motion planning approach to operation in a discrete, sample-based mode. The strong relation between graph theory and electrical networks is utilized to suggest a discrete counterpart to the boundary value problem used to generate the continuous, harmonic, navigation potential. It is shown that a discrete potential field defined on each vertex of a weighted graph and made to satisfy the balance condition represented by Kirchhoff current law (KCL) is capable of generating a flow field that may be used to build algorithms for finding the minimum cost path between two vertices. Two algorithms of this type are suggested. Supporting definitions and propositions are also provided.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	1779-1784
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.282218
State	Published - 2006

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.2006.282218

Cite this

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title = "A discrete harmonic potential field for optimum point-to-point routing on a weighted graph",

abstract = "In this paper an attempt is made to adapt the harmonic potential field motion planning approach to operation in a discrete, sample-based mode. The strong relation between graph theory and electrical networks is utilized to suggest a discrete counterpart to the boundary value problem used to generate the continuous, harmonic, navigation potential. It is shown that a discrete potential field defined on each vertex of a weighted graph and made to satisfy the balance condition represented by Kirchhoff current law (KCL) is capable of generating a flow field that may be used to build algorithms for finding the minimum cost path between two vertices. Two algorithms of this type are suggested. Supporting definitions and propositions are also provided.",

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language = "English",

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A discrete harmonic potential field for optimum point-to-point routing on a weighted graph. / Masoud, Ahmad A.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 1779-1784 4058635 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper an attempt is made to adapt the harmonic potential field motion planning approach to operation in a discrete, sample-based mode. The strong relation between graph theory and electrical networks is utilized to suggest a discrete counterpart to the boundary value problem used to generate the continuous, harmonic, navigation potential. It is shown that a discrete potential field defined on each vertex of a weighted graph and made to satisfy the balance condition represented by Kirchhoff current law (KCL) is capable of generating a flow field that may be used to build algorithms for finding the minimum cost path between two vertices. Two algorithms of this type are suggested. Supporting definitions and propositions are also provided.

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ER -

A discrete harmonic potential field for optimum point-to-point routing on a weighted graph

Abstract

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ASJC Scopus subject areas

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