Abstract-- Path planning algorithms, such as the search-based A*, are a critical component of autonomous mobile robotics, enabling robots to navigate from a starting point to a destination efficiently and safely. We investigated the resilience of the A* algorithm in the face of potential adversarial interventions known as obstacle attacks. The adversary's goal is to delay the robot's timely arrival at its destination by introducing obstacles along its original path. We developed malicious software to execute the attacks and conducted experiments to assess their impact, both in simulation using T urtleBot in Gazebo and in real-world deployment with the Unitree Go1 robot. In simulation, the attacks resulted in an average delay of 36%, with the most significant delays occurring in scenarios where the robot was forced to take substantially longer alternative paths. In real-world experiments, the delays were even more pronounced, with all attacks successfully rerouting the robot and causing measurable disruptions. These results highlight that the algorithm's robustness is not solely an attribute of its design but is significantly influenced by the operational environment. For example, in constrained environments like tunnels, the delays were maximized due to the limited availability of alternative routes.

Alternative routing is crucial to minimize the environmental impact of urban transportation while enhancing road network efficiency and reducing traffic congestion. Existing methods neglect information about road popularity, possibly leading to unintended consequences such as increasing emissions and congestion. This paper introduces Polaris, an alternative routing algorithm that exploits road popularity to optimize traffic distribution and reduce CO2 emissions. Polaris leverages the novel concept of K-road layers, which mitigates the feedback loop effect where redirecting vehicles to less popular roads could increase their popularity in the future. We conduct experiments in three cities to evaluate Polaris against state-of-the-art alternative routing algorithms. Our results demonstrate that Polaris significantly reduces the overuse of highly popular road edges and traversed regulated intersections, showcasing its ability to generate efficient routes and distribute traffic more evenly. Furthermore, Polaris achieves substantial CO2 reductions, outperforming existing alternative routing strategies. Finally, we compare Polaris to an algorithm that coordinates vehicles centrally to distribute them more evenly on the road network. Our findings reveal that Polaris performs comparably well, even with much less information, highlighting its potential as an efficient and sustainable solution for urban traffic management.

Due to the popularity of smartphones, cheap wireless networks and availability of road network data, navigation applications have become a part of our everyday life. Many modern navigation systems and map-based services do not only provide the fastest route from a source location s to a target location t but also provide a few alternative routes to the users as more options to choose from. Consequently, computing alternative paths from a source s to a target t has received significant research attention in the past few years. However, it is not clear which of the existing approaches generates alternative paths of better quality because the quality of these alternatives is mostly subjective. Motivated by this, in this paper, we present the first user study that compares the quality of the alternative routes generated by four of the most popular existing approaches including the routes provided by Google Maps. We also present the details of a web-based demo system that can be accessed using any internet enabled device and allows users to see the alternative routes generated by the four approaches for any pair of source and target selected by the users. Our user study shows that although the mean rating received by Google Maps is slightly lower than the mean ratings received by the other three approaches, the results are not statistically significant. We also discuss the limitations of this user study and recommend the readers to interpret these results with caution because certain factors beyond our control may have affected the participants' ratings.

Several route choice models developed in the literature were based on a relatively small number of observations. With the extensive use of tracking devices in recent surveys, there is a possibility to obtain insights with respect to the traveler's choice behavior. In this paper, different path generation algorithms are evaluated using a large GPS trajectory dataset. The dataset contains 6,000 observations from Tel-Aviv metropolitan area. An initial analysis is performed by generating a single route based on the shortest path. Almost 60% percent of the 6,000 observations can be covered (assuming a threshold of 80% overlap) using a single path. This result significantly contrasts previous literature findings. Link penalty, link elimination, simulation and via-node methods are applied to generate route sets, and the consistency of the algorithms are compared. A modified link penalty method, which accounts for preference of using higher hierarchical roads, provides a route set with 97% coverage (80% overlap threshold). The via-node method produces route set with satisfying coverage, and generates routes that are more heterogeneous (in terms number of links and routes ratio).

Recently, the "trolley problem," a decades-old thought experiment in moral philosophy, has been enjoying a second career of sorts, appearing in nightmare visions of a future in which cars make life-and-death decisions for us. Among many driverless car experts, however, talk of trolleys is très gauche. They call the trolley problem sensationalist and irrelevant. But this attitude is unfortunate. Thanks to the arrival of autonomous vehicles, the trolley problem will be answered--that much is unavoidable.