Related papers: A Decomposition-Based Approach to Reasoning about …

Spatial relationships between objects provide important information for text-based image retrieval. As users are more likely to describe a scene from a real world perspective, using 3D spatial relationships rather than 2D relationships that…

We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself…

Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…

Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into…

A kinematic chain in three-dimensional Euclidean space consists of $n$ links that are connected by spherical joints. Such a chain is said to be within a closed configuration when its link lengths form a closed polygonal chain in three…

In this paper, we propose a descent method for composite optimization problems with linear operators. Specifically, we first design a structure-exploiting preconditioner tailored to the linear operator so that the resulting preconditioned…

Approximate computing is a computation domain which can be used to trade time and energy with quality and therefore is useful in embedded systems. Energy is the prime resource in battery-driven embedded systems, like robots. Approximate…

Mode-based model-reduction is used to reduce the degrees of freedom of high dimensional systems, often by describing the system state by a linear combination of spatial modes. Transport dominated phenomena, ubiquitous in technical and…

Conflict prediction is a vital component of path planning for autonomous vehicles. Prediction methods must be accurate for reliable navigation, but also computationally efficient to enable online path planning. Efficient prediction methods…

Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…

This work proposes a new formulation to the long-standing problem of convex decomposition through learning feature fields, enabling the first feed-forward model for open-world convex decomposition. Our method produces high-quality…

Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure…

We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete…

This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…

In an autonomous driving system, it is essential to recognize vehicles, pedestrians and cyclists from images. Besides the high accuracy of the prediction, the requirement of real-time running brings new challenges for convolutional network…

Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…

We consider two conformal defects close to each other in a free theory, and study what happens as the distance between them goes to zero. This limit is the same as zooming out, and the two defects have fused to another defect. As we zoom in…

In the first part of this thesis, we consider an instance of Frechet distance problem in which the speed of traversal along each segment of the curves is restricted to be within a specfied range. This setting is more realistic than the…

In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…

We investigate algorithmic control of a large swarm of mobile particles (such as robots, sensors, or building material) that move in a 2D workspace using a global input signal (such as gravity or a magnetic field). We show that a maze of…