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Autonomous navigation in unknown environments is challenging and demands the consideration of both geometric and semantic information in order to parse the navigability of the environment. In this work, we propose a novel space modeling…
Generalized Processor Sharing (GPS), which provides the theoretical underpinnings for fair packet scheduling algorithms, has been studied extensively. However, a tight formulation of the available service of a flow only exists for traffic…
Given an undirected graph $G = (V, E)$, and a vertex $r\in V$, an $r$-acyclic orientation of $G$ is an orientation $OE$ of the edges of $G$ such that the digraph $OG = (V, OE)$ is acyclic and $r$ is the unique vertex with indegree equal to…
In greedy geometric routing, messages are passed in a network embedded in a metric space according to the greedy strategy of always forwarding messages to nodes that are closer to the destination. We show that greedy geometric routing…
Due to the irregular nature of connections in most graph datasets, partitioning graph analysis algorithms across multiple computational nodes that do not share a common memory inevitably leads to large amounts of interconnect traffic.…
In this paper we propose an algorithm for path following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level…
Unmanned aerial vehicles (UAVs), commonly known as drones, are becoming increasingly popular for various applications. Freely flying drones create highly dynamic environments, where conventional routing algorithms which rely on stationary…
Geometric embedding methods have shown to be useful for multi-hop reasoning on knowledge graphs by mapping entities and logical operations to geometric regions and geometric transformations, respectively. Geometric embeddings provide direct…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…
To address the rising demand for strong packet delivery guarantees in networking, we study a novel way to perform graph resource allocation. We first introduce allocation graphs, in which nodes can independently set local resource limits…
Subgraph-based graph representation learning (SGRL) has been recently proposed to deal with some fundamental challenges encountered by canonical graph neural networks (GNNs), and has demonstrated advantages in many important data science…
We study online graph queries that retrieve nearby nodes of a query node from a large network. To answer such queries with high throughput and low latency, we partition the graph and process the data in parallel across a cluster of servers.…
Sampling-based motion-planning algorithms typically rely on nearest-neighbor (NN) queries when constructing a roadmap. Recent results suggest that in various settings NN queries may be the computational bottleneck of such algorithms.…
This research delves into advanced route optimization for robots in smart logistics, leveraging a fusion of Transformer architectures, Graph Neural Networks (GNNs), and Generative Adversarial Networks (GANs). The approach utilizes a…
We propose bi-directional face traversal algorithm $2FACE$ to shorten the path the message takes to reach the destination in geometric routing. Our algorithm combines the practicality of the best single-direction traversal algorithms with…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
Graph-based algorithms for point-to-point link scheduling in Spatial reuse Time Division Multiple Access (STDMA) wireless ad hoc networks often result in a significant number of transmissions having low Signal to Interference and Noise…
Terrain analysis is critical for the practical ap- plication of ground mobile robots in real-world tasks, espe- cially in outdoor unstructured environments. In this paper, we propose a novel spatial-temporal traversability assessment…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…