In robotics, more precisely Autonomous Mobile Robotics (AMR), robots, much like human beings, are confronted regularly with the problem of finding the best path to take from a source location to a destination location. This is an optimization concern, since the robot wants to minimize its cost in time or in energy while achieving its goal. Different algorithms exist for shortest path computation; the famous Dijkstra’s Shortest Path Algorithm will solve single-source shortest path problems in near linear time (O(mn log n)). However, for certain complex optimization path-planning problems, this algorithm alone is insufficient. We will study a dynamical formulation using Integer Programming (IP) to solve complex path-planning problems in robotics.

Faculty Advisor Name

Randall Pyke

Faculty Advisor Institution

University of Toronto

Suggested Mathematics Subject Classification(s)

90C10, 90B06


This paper was written while the author was an undergraduate at Ryerson University. The author would like to thank Randall Pyke for his support and generosity.

Included in

Mathematics Commons



To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.