Related papers: CostMAP: An open-source software package for devel…
Aerial imagery provides essential global context for autonomous navigation, enabling route planning at scales inaccessible to onboard sensing. We address the problem of generating global costmaps for long-range planning directly from…
While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…
Learning latent costs of transitions on graphs from trajectories demonstrations under various contextual features is challenging but useful for path planning. Yet, existing methods either oversimplify cost assumptions or scale poorly with…
Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping…
We present Smac Planner, an openly available, search-based planning framework that addresses the critical need for kinematically feasible path planning across diverse robot platforms. Smac Planner provides high-performance implementations…
In this paper, we propose a new method called Clustering Topological PRM (CTopPRM) for finding multiple homotopically distinct paths in 3D cluttered environments. Finding such distinct paths, e.g., going around an obstacle from a different…
Visibility is a crucial aspect of planning and control of autonomous vehicles (AV), particularly when navigating environments with occlusions. However, when an AV follows a trajectory with multiple occlusions, existing methods evaluate each…
We propose a novel cost aggregation network, called Cost Aggregation Transformers (CATs), to find dense correspondences between semantically similar images with additional challenges posed by large intra-class appearance and geometric…
MAP is the problem of finding a most probable instantiation of a set of variables in a Bayesian network given some evidence. Unlike computing posterior probabilities, or MPE (a special case of MAP), the time and space complexity of…
In robotic planetary surface exploration, strategic mobility planning is an important task that involves finding candidate long-distance routes on orbital maps and identifying segments with uncertain traversability. Then, expert human…
This report presents the design of the Scope infrastructure for extensible and portable benchmarking. Improvements in high- performance computing systems rely on coordination across different levels of system abstraction. Developing and…
Motion planning is a complicated task that requires the combination of perception, map information integration and prediction, particularly when driving in heavy traffic. Developing an extensible and efficient representation that visualizes…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Marching surfaces is a method for isosurface extraction and approximation based on a $G^1$ multi-sided patch interpolation scheme. Given a 3D grid of scalar values, an underlying curve network is formed using second order information and…
A GraphMaps is a system that visualizes a graph using zoom levels, which is similar to a geographic map visualization. GraphMaps reveals the structural properties of the graph and enables users to explore the graph in a natural way by using…
As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robots. Conflict-Based Search (CBS) is a popular method for…
RDMA-empowered cloud services are gradually deployed across datacenters (DCs) with multiple paths, which exhibit new properties of path asymmetry, delayed congestion signals, and simultaneous flow routing collisions, and further fail…
Isocontouring is one of the most widely used visualization techniques. However, many popular contouring algorithms were created prior to the advent of ubiquitous parallel approaches, such as multi-core, shared memory computing systems. With…
Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…