Related papers: Helping Computers Understand Geographically-Bound …
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
Mapping of spatial hotspots, i.e., regions with significantly higher rates of generating cases of certain events (e.g., disease or crime cases), is an important task in diverse societal domains, including public health, public safety,…
This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environments. They do this by accounting for the motion of the robot…
Building 3D geometric maps of man-made spaces is a well-established and active field that is fundamental to computer vision and robotics. However, considering the evolving nature of built environments, it is essential to question the…
Land-use regression (LUR) models are important for the assessment of air pollution concentrations in areas without measurement stations. While many such models exist, they often use manually constructed features based on restricted, locally…
The widespread adoption of continuously connected smartphones and tablets developed the usage of mobile applications, among which many use location to provide geolocated services. These services provide new prospects for users: getting…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Spatial transcriptomics is a modern sequencing technology that allows the measurement of the activity of thousands of genes in a tissue sample and map where the activity is occurring. This technology has enabled the study of the so-called…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
Panoramic Activity Recognition (PAR) seeks to identify diverse human activities across different scales, from individual actions to social group and global activities in crowded panoramic scenes. PAR presents two major challenges: 1)…
Spectrum cartography constructs maps of metrics such as channel gain or received signal power across a geographic area of interest using spatially distributed sensor measurements. Applications of these maps include network planning,…
Forecasting future states of sensors is key to solving tasks like weather prediction, route planning, and many others when dealing with networks of sensors. But complete spatial coverage of sensors is generally unavailable and would…
A location histogram is comprised of the number of times a user has visited locations as they move in an area of interest, and it is often obtained from the user in applications such as recommendation and advertising. However, a location…
A growing number of largely uncoordinated initiatives focus on research software sustainability. A comprehensive mapping of the research software sustainability space can help identify gaps in their efforts, track results, and avoid…
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…
In this work, we extend the Spatiotemporal Tube (STT) framework to address Probabilistic Temporal Reach-Avoid-Stay (PrT-RAS) tasks in dynamic environments with uncertain obstacles. We develop a real-time tube synthesis procedure that…
This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…
This paper investigates the multi-agent cooperative exploration problem, which requires multiple agents to explore an unseen environment via sensory signals in a limited time. A popular approach to exploration tasks is to combine active…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…