Related papers: Informative Path Planning for Location Fingerprint…
Optimal experimental design (OED) concerns itself with identifying ideal methods of data collection, e.g.~via sensor placement. The \emph{greedy algorithm}, that is, placing one sensor at a time, in an iteratively optimal manner, stands as…
With applications to many disciplines, the traveling salesman problem (TSP) is a classical computer science optimization problem with applications to industrial engineering, theoretical computer science, bioinformatics, and several other…
In this paper we prove the efficacy of a simple greedy algorithm for a finite horizon online resource allocation/matching problem, when the corresponding static planning linear program (SPP) exhibits a non-degeneracy condition called the…
The need for efficient monitoring of spatio-temporal dynamics in large environmental applications, such as the water quality monitoring in rivers and lakes, motivates the use of robotic sensors in order to achieve sufficient spatial…
In this paper, we will formalize the method of dual fitting and the idea of factor-revealing LP. This combination is used to design and analyze two greedy algorithms for the metric uncapacitated facility location problem. Their…
Navigating efficiently to an object in an unexplored environment is a critical skill for general-purpose intelligent robots. Recent approaches to this object goal navigation problem have embraced a modular strategy, integrating classical…
Robots are frequently tasked to gather relevant sensor data in unknown terrains. A key challenge for classical path planning algorithms used for autonomous information gathering is adaptively replanning paths online as the terrain is…
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…
In this paper, we introduce the map-language navigation task where an agent executes natural language instructions and moves to the target position based only on a given 3D semantic map. To tackle the task, we design the instruction-aware…
Location recommendation plays a vital role in improving users' travel experience. The timestamp of the POI to be predicted is of great significance, since a user will go to different places at different times. However, most existing methods…
We present \emph{Greedy Information Projection} (\textsc{GIP}), a principled framework for choosing training examples for large language model fine-tuning. \textsc{GIP} casts selection as maximizing mutual information between a subset of…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…
The determinantal point process (DPP) is an elegant probabilistic model of repulsion with applications in various machine learning tasks including summarization and search. However, the maximum a posteriori (MAP) inference for DPP which…
Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…
Crowdsourcing plays an essential role in the Internet of Things (IoT) for data collection, where a group of workers is equipped with Internet-connected geolocated devices to collect sensor data for marketing or research purpose. In this…
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense stochastic map of the environment into account, while safety…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
This paper improves the performance of RRT$^*$-like sampling-based path planners by combining admissible informed sampling and local sampling (i.e., sampling the neighborhood of the current solution). An adaptive strategy regulates the…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…