Related papers: Coordinated Robot Navigation via Hierarchical Clus…
There are many clustering methods, such as hierarchical clustering method. Most of the approaches to the clustering of variables encountered in the literature are of hierarchical type. The great majority of hierarchical approaches to the…
We present the clustering learning technique applied to multi-layer feedforward deep neural networks. We show that this unsupervised learning technique can compute network filters with only a few minutes and a much reduced set of…
We present a novel clustering approach for moving object trajectories that are constrained by an underlying road network. The approach builds a similarity graph based on these trajectories then uses modularity-optimization hiearchical graph…
Navigating through dense human crowds remains a significant challenge for mobile robots. A key issue is the freezing robot problem, where the robot struggles to find safe motions and becomes stuck within the crowd. To address this, we…
We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…
We propose a nearest neighbor based clustering algorithm that results in a naturally defined hierarchy of clusters. In contrast to the agglomerative and divisive hierarchical clustering algorithms, our approach is not dependent on the…
In this paper we present a novel framework for unsupervised topological clustering resulting in improved loop. In this paper we present a novel framework for unsupervised topological clustering resulting in improved loop detection and…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
Human mobility clustering is an important problem for understanding human mobility behaviors (e.g., work and school commutes). Existing methods typically contain two steps: choosing or learning a mobility representation and applying a…
The primary goal in cluster analysis is to discover natural groupings of objects. The field of cluster analysis is crowded with diverse methods that make special assumptions about data and address different scientific aims. Despite its…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
With the rapid advancement of next-generation satellite networks, addressing clustering tasks, user grouping, and efficient link management has become increasingly critical to optimize network performance and reduce interference. In this…
Classical snake robot control leverages mimicking snake-like gaits tuned for specific environments. However, to operate adaptively in unstructured environments, gait generation must be dynamically scheduled. In this work, we present a…
This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. We propose a provably safe…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
Clustering is often used for discovering structure in data. Clustering systems differ in the objective function used to evaluate clustering quality and the control strategy used to search the space of clusterings. Ideally, the search…
Competent multi-lane cruising requires using lane changes and within-lane maneuvers to achieve good speed and maintain safety. This paper proposes a design for autonomous multi-lane cruising by combining a hierarchical reinforcement…