Related papers: A Novel Algorithm for Real-time Procedural Generat…
This work proposes a method for effectively computing manipulation paths to rearrange similar objects in a cluttered space. The solution can be used to place similar products in a factory floor in a desirable arrangement or for retrieving a…
Automated planning enables robots to find plans to achieve complex, long-horizon tasks, given a planning domain. This planning domain consists of a list of actions, with their associated preconditions and effects, and is usually manually…
The construction of cut trees (also known as Gomory-Hu trees) for a given graph enables the minimum-cut size of the original graph to be obtained for any pair of vertices. Cut trees are a powerful back-end for graph management and mining,…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…
Building practitioners (architects, engineers, energy managers) are showing a growing interest in the design of more energy efficient and livable buildings. The best way to predict how a building will behave regarding energy consumption and…
The aim of this paper is to propose new algorithms for Field of Vision (FOV) computation which improve on existing work at high resolutions. FOV refers to the set of locations that are visible from a specific position in a scene of a…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
In this paper, we present an automatic system for the analysis and labeling of structural scenes, floor plan drawings in Computer-aided Design (CAD) format. The proposed system applies a fusion strategy to detect and recognize various…
In this paper, we propose a novel affordance model, which combines object, action, and effect information in the latent space of a predictive neural network architecture that is built on Conditional Neural Processes. Our model allows us to…
Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…
Existing lane-level simulation road network generation is labor-intensive, resource-demanding, and costly due to the need for large-scale data collection and manual post-editing. To overcome these limitations, we propose automatically…
This paper describes a novel approach for generating accurate floor plans and 3D models of building interiors using scanned mesh data. Unlike previous methods, which begin with a high resolution point cloud from a laser range-finder, our…
We address the challenge of computing search paths in real-time for subsea applications where the goal is to locate an unknown number of targets on the seafloor. Our approach maximizes a formal definition of search effectiveness given…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
Modern sampling-based motion planning algorithms typically take between hundreds of milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom problems. This paper presents performance improvements of more…
This paper presents a novel algorithmic framework for the computational design, simulation, and fabrication of a hexagonal grid-based double-curvature structure with planar hexagonal panels. The journey begins with constructing a robust…
Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the…
We present a new efficient algortithm for construction of linear latent structure (LLS) models. This algorithm reduces a problem of estimation of model parameters to a sequence of problems of linear algebra, which assures a low…
In this article the most fundamental decomposition-based optimization method - block coordinate search, based on the sequential decomposition of problems in subproblems - and building performance simulation programs are used to reason about…