# Learning Obstacle-Avoiding Lattice Paths using Swarm Heuristics: Exploring the Bijection to Ordered Trees

arXiv: https://arxiv.org/abs/2209.05187 · HTML: https://mlsanity.com/paper/2209.05187/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 41 references that are in the map.
- First posted on arXiv 12 Sep 2022.

## Builds on (most cited first, 1 of 1)

- [An Efficient Scheme for the Generation of Ordered Trees in Constant Amortized Time](https://mlsanity.com/paper/2011.03636/) (2020)

## Abstract (arXiv)

Lattice paths are functional entities that model efficient navigation in discrete/grid maps. This paper presents a new scheme to generate collision-free lattice paths with utmost efficiency using the bijective property to rooted ordered trees, rendering a one-dimensional search problem. Our computational studies using ten state-of-the-art and relevant nature-inspired swarm heuristics in navigation scenarios with obstacles with convex and non-convex geometry show the practical feasibility and efficiency in rendering collision-free lattice paths. We believe our scheme may find use in devising fast algorithms for planning and combinatorial optimization in discrete maps.