Related papers: Achieving Throughput via Fine-Grained Path Plannin…
This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…
The term Delay/Disruption-Tolerant Networks (DTN) invented to describe and cover all types of long-delay, disconnected, intermittently connected networks, where mobility and outages or scheduled contacts may be experienced. This environment…
Acquiring plausible pathways on high-dimensional structural distributions is beneficial in several domains. For example, in the drug discovery field, a protein conformational pathway, i.e. a highly probable sequence of protein structural…
Deceptive path planning (DPP) is the problem of designing a path that hides its true goal from an outside observer. Existing methods for DPP rely on unrealistic assumptions, such as global state observability and perfect model knowledge,…
Graph Neural Networks (GNNs) have achieved state-of-the-art (SOTA) performance in diverse domains. However, training GNNs on large-scale graphs poses significant challenges due to high memory demands and significant communication overhead…
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a…
We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off-road features like grass, buildings, bushes, etc. Given a…
Delay tolerant Networks (DTNs) leverage the mobility of relay nodes to compensate for lack of permanent connectivity and thus enable communication between nodes that are out of range of each other. To decrease message delivery delay, the…
We consider the problem of designing an overlay network and routing mechanism that permits finding resources efficiently in a peer-to-peer system. We argue that many existing approaches to this problem can be modeled as the construction of…
Short-term traffic speed prediction has been an important research topic in the past decade, and many approaches have been introduced. However, providing fine-grained, accurate, and efficient traffic-speed prediction for large-scale…
Segment Routing is a recent network technology that helps optimizing network throughput by providing finer control over the routing paths. Instead of routing directly from a source to a target, packets are routed via intermediate waypoints.…
Data mining is used to extract hidden information from large databases. In Peer-to-Peer context, a challenging problem is how to find the appropriate Peer to deal with a given query without overly consuming bandwidth. Different methods…
A crucial issue for a mobile ad hoc network is the handling of a large number of nodes. As more nodes join the mobile ad hoc network, contention and congestion are more likely. The on demand routing protocols which broadcasts control…
We study link scheduling in wireless networks under stochastic arrival processes of packets, and give an algorithm that achieves stability in the physical (SINR) interference model. The efficiency of such an algorithm is the fraction of the…
A recursive tree planner (RTP) is designed to function as a pure planner without policies at one extreme and run a pure greedy policy at the other. In between, the RTP exploits policies to improve planning performance and improve zero-shot…
This paper seeks to understand the effectiveness of using multi-dimensional opportunistic delay-tolerant network (DTN) routing protocols, specifically Epidemic and MaxProp, in the context of New York City (NYC) metropolitan subway network.…
Routing in Delay Tolerant Networks (DTNs) benefits considerably if one can take advantage of knowledge concerning node mobility. The main contribution of this paper is the definition of a generic routing scheme for DTNs using a…
Autonomous path planning algorithms are significant to planetary exploration rovers, since relying on commands from Earth will heavily reduce their efficiency of executing exploration missions. This paper proposes a novel learning-based…
We propose a learning algorithm for local routing policies that needs only a few data samples obtained from a single graph while generalizing to all random graphs in a standard model of wireless networks. We thus solve the all-pairs…
Wide area networking infrastructures (WANs), particularly science and research WANs, are the backbone for moving large volumes of scientific data between experimental facilities and data centers. With demands growing at exponential rates,…