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Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…
Partial Reconfiguration (PR) is a technique that allows reconfiguring the FPGA chip at runtime. However, current design support tools require manual floorplanning of the partial modules. Several approaches have been proposed in this field,…
Many popular video games use pseudorandom number generators to create randomly distributed locations for game objects as highly unpredictable as possible. Some scenarios like game competition also need reproducible randomness, namely the…
In this paper we propose a method to extract an abstracted floor plan from typical grid maps using Bayesian reasoning. The result of this procedure is a probabilistic generative model of the environment defined over abstract concepts. It is…
Recently, width-based planning methods have been shown to yield state-of-the-art results in the Atari 2600 video games. For this, the states were associated with the (RAM) memory states of the simulator. In this work, we consider the same…
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…
Procedurally generating cities in Minecraft provides players more diverse scenarios and could help understand and improve the design of cities in other digital worlds and the real world. This paper presents a city generator that was…
Minimax designs provide a uniform coverage of a design space $\mathcal{X} \subseteq \mathbb{R}^p$ by minimizing the maximum distance from any point in this space to its nearest design point. Although minimax designs have many useful…
The aim of this study is to understand what are the collective actions of architecture practitioners when grouping floor plan designs. The understanding of how professionals and students solve this complex problem may help to develop…
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion…
As the demand of real time computing increases day by day, there is a major paradigm shift in processing platform of real time system from single core to multi-core platform which provides advantages like higher throughput, linear power…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth…
In this paper, we report the results of our latest work on the automated generation of planning operators from human demonstrations, and we present some of our future research ideas. To automatically generate planning operators, our system…
We present efficient algorithms to build data structures and the lists needed for fast multipole methods. The algorithms are capable of being efficiently implemented on both serial, data parallel GPU and on distributed architectures. With…
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and…
Computational Grids are a new trend in distributed computing systems. They allow the sharing of geographically distributed resources in an efficient way, extending the boundaries of what we perceive as distributed computing. Various…
We present a novel approach to align partial 3D reconstructions which may not have substantial overlap. Using floorplan priors, our method jointly predicts a room layout and estimates the transformations from a set of partial 3D data.…
We address 2D floorplan reconstruction from 3D scans. Existing approaches typically employ heuristically designed multi-stage pipelines. Instead, we formulate floorplan reconstruction as a single-stage structured prediction task: find a…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
We develop an efficient parallel algorithm for answering shortest-path queries in planar graphs and implement it on a multi-node CPU/GPU clusters. The algorithm uses a divide-and-conquer approach for decomposing the input graph into small…