Yen’s Algorithm Clause Samples

Yen’s Algorithm. In [8] ▇▇▇ introduces an algorithm to find K-shortest loopless paths for a given pair of start and goal poses. The algorithm computational upper bound increases linearly with the value of K: with modern data struc- ture it can be implemented in O(KN (M + Nlog(N ))) worst-case time. We use the C++ implementation intro- duced by ▇▇▇▇▇▇▇ and ▇▇▇▇▇▇▇ in [23], which is reported to have better performance than the straightforward implementation. We compare our approach to the Yen’s algorithm, because it finds a set of k best paths with an higher diversity than the ones found by ▇▇▇▇▇▇▇▇’▇ and it was shown by ▇▇▇▇▇▇▇ and ▇▇▇▇▇▇▇▇ [17] that for small size graphs and paths of small length (like the graphs generated from a Voronoi diagram), it is faster than ▇▇▇▇▇’s.