Related papers: Voronoi-Based Coverage Control of Heterogeneous Di…
The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…
Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial…
The Voronoi diagram is a geometric object which is widely used in many areas. Recently it has been shown that under mild conditions Voronoi diagrams have a certain continuity property: small perturbations of the sites yield small…
In this paper, we propose a novel space partitioning strategy for implicit hierarchy visualization such that the new plot not only has a tidy layout similar to the treemap, but also is flexible to data changes similar to the Voronoi…
In this paper, an efficient motion planning approach with grid-based generalized Voronoi diagrams (G$ \mathbf{^2} $VD) is newly proposed for mobile robots. Different from existing approaches, the novelty of this work is twofold: 1) a new…
This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper…
We present a simple yet effective routing strategy inspired by coverage control, which delays the onset of congestion on traffic networks, by introducing a control parameter. The routing algorithm allows a trade-off between the congestion…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
Topological maps are more suitable than metric maps for robotic exploration tasks. However, real-time updating of accurate and detail-rich environmental topological maps remains a challenge. This paper presents a topological map updating…
Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amount of map storage space and online computing time, they are…
In this work, we present the development of a neuro-inspired approach for characterizing sensorimotor relations in robotic systems. The proposed method has self-organizing and associative properties that enable it to autonomously obtain…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Extraction of a high-fidelity 3D medial axis is a crucial operation in CAD. When dealing with a polygonal model as input, ensuring accuracy and tidiness becomes challenging due to discretization errors inherent in the mesh surface.…
Since the Voronoi diagram appears in many applications, the topic of improving its computational efficiency remains attractive. We propose a novel yet efficient method to compute Voronoi diagrams bounded by a given domain, i.e., the clipped…
In this paper, we perform safety and performance analysis of an autonomous vehicle that implements reactive planner and controller for navigating a race lap. Unlike traditional planning algorithms that have access to a map of the…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
In energy system analysis, coupling models with mismatched spatial resolutions is a significant challenge. A common solution is assigning weights to high-resolution geographic units for aggregation, but traditional models are limited by…
The main contribution of this paper is a methodology for multiple non-cooperating swarms of unmanned aerial vehicles to independently cover a common area. In contrast to previous research on coverage control involving more than one swarm,…
The primary goal of Optimal Power Flow (OPF) is to optimize the operation of a power system while meeting the demand and adhering to operational constraints. This paper presents a new approach for AC OPF. First, the approach constructs a…
We study the geodesic Voronoi diagram of a set $S$ of $n$ linearly moving sites inside a static simple polygon $P$ with $m$ vertices. We identify all events where the structure of the Voronoi diagram changes, bound the number of such…