Related papers: Using Binoculars for Fast Exploration and Map Cons…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…
There has been significant recent interest in graph-based nearest neighbor search methods, many of which are centered on the construction of navigable graphs over high-dimensional point sets. A graph is navigable if we can successfully move…
We consider the problem of human-assisted graph search: given a directed acyclic graph with some (unknown) target node(s), we consider the problem of finding the target node(s) by asking an omniscient human questions of the form "Is there a…
Avraham et al. [AFK+15] presented an alternative approach to parametric search, called \emph{bifurcation}, that performs faster under certain circumstances. Intuitively, when the underlying decider execution can be rolled back cheaply and…
This research considers Bayesian decision-analytic approaches toward the traversal of an uncertain graph. Namely, a traveler progresses over a graph in which rewards are gained upon a node's first visit and costs are incurred for every edge…
This paper details a system for fast visual exploration and search without prior map information. We leverage frontier based planning with both LiDAR and visual sensing and augment it with a perception module that contextually labels points…
Visual navigation takes inspiration from humans, who navigate in previously unseen environments using vision without detailed environment maps. Inspired by this, we introduce a novel no-RL, no-graph, no-odometry approach to visual…
We study the problem of patrolling the nodes of a network collaboratively by a team of mobile agents, such that each node of the network is visited by at least one agent once in every $I(n)$ time units, with the objective of minimizing the…
In this paper, we consider the problem of reconstructing a directed graph using path queries. In this query model of learning, a graph is hidden from the learner, and the learner can access information about it with path queries. For a…
We consider a modified random walk which uses unvisited edges whenever possible, and makes a simple random walk otherwise. We call such a walk an edge-process. We assume there is a rule A, which tells the walk which unvisited edge to use…
This paper studies graph-based active learning, where the goal is to reconstruct a binary signal defined on the nodes of a weighted graph, by sampling it on a small subset of the nodes. A new sampling algorithm is proposed, which…
We study the statistics of edges and vertices in the vicinity of a reference vertex (origin) within random planar quadrangulations and Eulerian triangulations. Exact generating functions are obtained for theses graphs with fixed numbers of…
We consider the following dynamic Boolean model introduced by van den Berg, Meester and White (1997). At time 0, let the nodes of the graph be a Poisson point process in R^d with constant intensity and let each node move independently…
During the last decade of network research focusing on structural and dynamical properties of networks, the role of network users has been more or less underestimated from the bird's-eye view of global perspective. In this era of global…
We study the problem of online tree exploration by a deterministic mobile agent. Our main objective is to establish what features of the model of the mobile agent and the environment allow linear exploration time. We study agents that, upon…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
We provide the first step toward developing a hierarchical control-estimation framework to actively plan robot trajectories for anomaly detection in confined spaces. The space is represented globally using a directed region graph, where a…
This paper deals with identifiability of undirected dynamical networks with single-integrator node dynamics. We assume that the graph structure of such networks is known, and aim to find graph-theoretic conditions under which the state…
Memory is an important cognitive function for humans. How a brain with such a small power can complete such a complex memory function, the working mechanism behind this is undoubtedly fascinating. Engram theory views memory as the…
Ad hoc teamwork is the challenging problem of designing an autonomous agent which can adapt quickly to collaborate with teammates without prior coordination mechanisms, including joint training. Prior work in this area has focused on closed…