Related papers: Offline Grid-Based Coverage path planning for guar…

Covering problems are fundamental classical problems in optimization, computer science and complexity theory. Typically an input to these problems is a family of sets over a finite universe and the goal is to cover the elements of the…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

We propose precise notions of what it means to guard a domain "robustly", under a variety of models. While approximation algorithms for minimizing the number of (precise) point guards in a polygon is a notoriously challenging area of…

Given a rectangular grid graph with a special vertex at a corner called base station, we study the problem of covering the vertices of the entire graph with tours that start and end at the base station and whose lengths do not exceed a…

In computer games, traditional procedural terrain generation relies on a grid of vertices, with each point representing terrain elevation. For each square in the grid, two triangles are created by connecting fixed vertex indices, resulting…

This paper introduces a novel machine learning architecture for an efficient estimation of the probabilistic space-time representation of complex traffic scenarios. A detailed representation of the future traffic scenario is of significant…

We describe a linear-time algorithm that finds a planar drawing of every graph of a simple line or pseudoline arrangement within a grid of area O(n^{7/6}). No known input causes our algorithm to use area \Omega(n^{1+\epsilon}) for any…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Maps are a very important component of strategy games, and a time-consuming task if done by hand. Maps generated by traditional PCG techniques such as Perlin noise or tile-based PCG techniques look unnatural and unappealing, thus not…

Grid space partitioning is a technique to speed up queries to graphics databases. We present a parallel grid construction algorithm which can efficiently construct a structured grid on GPU hardware. Our approach is substantially faster than…

The undirected edge geography is a two-player combinatorial game on an undirected rooted graph. The players alternatively perform a move consisting of choosing an edge incident to the root vertex, removing the chosen edge, and marking the…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result…

Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…

Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…

The incomplete round robin sports tournament format, where each team plays the same number of games but faces only a subset of the other teams, is becoming increasingly popular in both youth and professional competitions. In contrast to…

2D path planning in static environment is a well-known problem and one of the common ways to solve it is to 1) represent the environment as a grid and 2) perform a heuristic search for a path on it. At the same time 2D grid resembles much a…

In the convex covering problem, we are given a convex polygon with holes $P$ and the goal is to cover $P$ using a small number of convex polygons that lie inside $P$. In this paper, we solve the problem using the following strategy. We find…

The guarding game is a game in which several cops try to guard a region in a (directed or undirected) graph against Robber. Robber and the cops are placed on the vertices of the graph; they take turns in moving to adjacent vertices (or…

Modern software systems may exhibit a nondeterministic behavior due to many unpredictable factors. In this work, we propose the node coverage game, a two player turn-based game played on a finite game graph, as a formalization of the…