Related papers: Streamlines for Motion Planning in Underwater Curr…
In this paper, we model the trajectory of sea vessels and provide a service that predicts in near-real time the position of any given vessel in 4', 10', 20' and 40' time intervals. We explore the necessary tradeoffs between accuracy,…
We investigate the electrical current and flow (number of parallel paths) between two sets of n sources and n sinks in complex networks. We derive analytical formulas for the average current and flow as a function of n. We show that for…
In recent years, learning-based approaches have revolutionized motion planning. The data generation process for these methods involves caching a large number of high quality paths for different queries (start, goal pairs) in various…
Coverage motion planning is essential to a wide range of robotic tasks. Unlike conventional motion planning problems, which reason over temporal sequences of states, coverage motion planning requires reasoning over the spatial distribution…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
We investigate a family of approximate multi-step proximal point methods, framed as implicit linear discretizations of gradient flow. The resulting methods are multi-step proximal point methods, with similar computational cost in each…
Modern techniques for physical simulations rely on numerical schemes and mesh-refinement methods to address trade-offs between precision and complexity, but these handcrafted solutions are tedious and require high computational power.…
Subsurface sequestration of CO2 has received attention from the global scientific community in response to climate change concerns due to higher concentrations of CO2 in the atmosphere. Mathematical models have thus been developed to aid…
Estimation of unsteady flow fields around flight vehicles may improve flow interactions and lead to enhanced vehicle performance. Although flow-field representations can be very high-dimensional, their dynamics can have low-order…
Spatial designs for monitoring stream networks, especially ephemeral systems, are typically non-standard, `sparse' and can be very complex, reflecting the complexity of the ecosystem being monitored, the scale of the population, and the…
In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We…
Concept drift is a major problem in online learning due to its impact on the predictive performance of data stream mining systems. Recent studies have started exploring data streams from different sources as a strategy to tackle concept…
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface…
Streamflow, as a natural phenomenon, is continuous in time and so are the meteorological variables which influence its variability. In practice, it can be of interest to forecast the whole flow curve instead of points (daily or hourly). To…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
Pursuing a drifting target in a turbulent flow is an extremely difficult task whenever the searcher has limited propulsion and maneuvering capabilities. Even in the case when the relative distance between pursuer and target stays below the…
An enabling technology for future sea transports is safe and energy-efficient autonomous maritime navigation in narrow environments with other marine vessels present. This requires that the algorithm controlling the ship is able to account…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
With the widespread use of the Internet of Things, underwater control and monitoring systems for purposes such as ocean data sampling, natural disaster prevention, underwater surveillance, submarine exploration, and the like have become a…