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Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but is still underrepresented in deep brain neurosurgery and endonasal surgery where the workspace is constrained. In these conditions, the vision of…
Safe navigation within a workspace is a fundamental skill for autonomous robots to accomplish more complex tasks. Harmonic potentials are artificial potential fields that are analytical, globally convergent and provably free of local…
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…
A novel Neural Network architecture is proposed using the mathematically and physically rich idea of vector fields as hidden layers to perform nonlinear transformations in the data. The data points are interpreted as particles moving along…
Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…
Graph vertex ordering is widely employed in spatial data analysis, especially in urban analytics, where street graphs serve as spatial discretization for modeling and simulation. It is also crucial for visualization, as many methods require…
Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…
Among the components contributing to particle transport, geometry navigation is an important consumer of CPU cycles. The tasks performed to get answers to "basic" queries such as locating a point within a geometry hierarchy or computing…
Many methods in learning from demonstration assume that the demonstrator has knowledge of the full environment. However, in many scenarios, a demonstrator only sees part of the environment and they continuously replan as they gather…
Though visual and repeat navigation is a convenient solution for mobile robot self-navigation, achieving balance between efficiency and robustness in task environment still remains challenges. In this paper, we propose a novel visual and…
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and…
We revisit the Maximum Node-Disjoint Paths problem, the natural optimization version of Node-Disjoint Paths, where we are given a graph $G$, $k$ pairs of vertices $(s_i, t_i)$ and an integer $\ell$, and are asked whether there exist at…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
When a mobile robot plans its path in an environment with obstacles using Artificial Potential Field (APF) strategy, it may fall into the local minimum point and fail to reach the goal. Also, the derivatives of APF will explode close to…
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following…
We give a global geometric decomposition of continuously differentiable vector fields on $\mathbb{R}^n$. More precisely, given a vector field of class $\mathcal{C}^{1}$ on $\mathbb{R}^{n}$, and a geometric structure on $\mathbb{R}^n$, we…
In the field of trajectory generation for objects, ensuring continuous collision-free motion remains a huge challenge, especially for non-convex geometries and complex environments. Previous methods either oversimplify object shapes, which…
We propose a path-guiding algorithm to be incorporated into the wavefront style of path tracers (WFPTs). As WFPTs are primarily implemented on graphics processing units (GPUs), the proposed method aims to leverage the capabilities of the…
Faster rendering of synthetic images is a core problem in the field of computer graphics. Rendering algorithms, such as path-tracing is dependent on parameters like size of the image, number of light bounces, number of samples per pixel,…