Related papers: A Generalized Label Correcting Method for Optimal …

We propose in this paper a Proper Generalized Decomposition (PGD) solver for reduced-order modeling of linear elastodynamic problems. It primarily focuses on enhancing the computational efficiency of a previously introduced PGD solver based…

Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps. However, they depend on a static environment assumption…

We study a variant of the Coordinated Motion Planning problem on undirected graphs, referred to herein as the \textsc{Coordinated Sliding-Motion Planning} (CSMP) problem. In this variant, we are given an undirected graph $G$, $k$ robots…

Kinodynamic planning for car-like vehicles on uneven terrain requires simultaneously optimizing competing objectives such as path efficiency and pose stability. This work presents an adaptive epsilon-constraint method integrated into a…

LLMs have recently been used to generate Python programs representing generalized plans in PDDL planning, i.e., plans that generalize across the tasks of a given PDDL domain. Previous work proposed a framework consisting of three steps: the…

This paper addresses the search for a fast and meaningful image segmentation in the context of $k$-means clustering. The proposed method builds on a widely-used local version of Lloyd's algorithm, called Simple Linear Iterative Clustering…

We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…

The article deals with the issue of modification of metric classification algorithms. In particular, it studies the algorithm k-Nearest Neighbours for its application to sequential data. A method of generalization of metric classification…

Gaze estimation methods encounter significant performance deterioration when being evaluated across different domains, because of the domain gap between the testing and training data. Existing methods try to solve this issue by reducing the…

This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains,…

Correcting scan-positional errors is critical in achieving electron ptychography with both high resolution and high precision. This is a demanding and challenging task due to the sheer number of parameters that need to be optimized. For…

This paper proposes a control technique for autonomous RC car racing. The presented method does not require any map-building phase beforehand since it operates only local path planning on the actual LiDAR point cloud. Racing control…

We consider the iterative solution of generalized saddle point systems. When the right bottom block is zero, Arioli [SIAM J. Matrix Anal. Appl., 34 (2013), pp. 571--592] proposed a CRAIG algorithm based on generalized Golub-Kahan…

This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic…

Motion planning is an essential aspect of autonomous systems and robotics and is an active area of research. A recently-proposed sampling-based motion planning algorithm, termed 'Generalized Shape Expansion' (GSE), has been shown to possess…

We propose a globally consistent semantic SLAM system (GCSLAM) and a semantic-fusion localization subsystem (SF-Loc), which achieves accurate semantic mapping and robust localization in complex parking lots. Visual cameras (front-view and…

Camera calibration is a crucial prerequisite in many applications of computer vision. In this paper, a new, geometry-based camera calibration technique is proposed, which resolves two main issues associated with the widely used Zhang's…

A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…

Semidefinite programming (SDP) is a powerful tool for tackling a wide range of computationally hard problems such as clustering. Despite the high accuracy, semidefinite programs are often too slow in practice with poor scalability on large…

For real-time multirotor kinodynamic motion planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We…