RT Journal Article
T1 A robust method for fast exploration of environments with moving obstacles
A1 Oleaga Apadula, Gerardo Enrique
A1 Ortega Lozano, Daniel
A1 Makarov Slizneva, Valeriy
AB Exploring environments with static and moving obstacles is a fundamental problem with numerous applications in physics and engineering. The Fast Marching Method (FMM) offers a computationally efficient numerical solution to the Eikonal equation, which describes a wavefront propagating through a medium. The FMM is effective in media with static obstacles, but, as we show, it fails in the presence of moving ones. We introduce a novel, robust method for waveexploration of environments of arbitrary dimension and complexity, and prove its convergence numerically. The method accurately handles both dynamic and static obstacles while preserving the computational efficiency of the FMM, ensuring a fast and reliable global search for collisionfree trajectories. The algorithm can also serve as an interception strategy for catching a moving target among many obstacles.
PB Elsevier
YR 2025
FD 2025
LK https://hdl.handle.net/20.500.14352/130239
UL https://hdl.handle.net/20.500.14352/130239
LA eng
NO Oleaga, Gerardo E., et al. «A Robust Method for Fast Exploration of Environments with Moving Obstacles». Journal of Computational Physics, vol. 547, febrero de 2026, p. 114538. DOI.org (Crossref), https://doi.org/10.1016/j.jcp.2025.114538
NO 2025 Acuerdos transformativos CRUE
NO Ministerio de Ciencia e Innovación (España) 
DS Docta Complutense
RD 19 mar 2026