Related papers: Vector Field Guided Path Following Control: Singul…
We describe the implementation of a topological constraint in finite element simulations of phase field models which ensures path-connectedness of preimages of intervals in the phase field variable. Two main applications of our method are…
Collective coordinates are frequently employed in path integrals to manage divergences caused by fluctuations around saddle points that align with classical symmetries. These coordinates parameterize a manifold of zero modes and more…
Deep learning has advanced vectorized road extraction in urban settings, yet off-road environments remain underexplored and challenging. A significant domain gap causes advanced models to fail in wild terrains due to two key issues: lack of…
Graph embeddings have emerged as a powerful tool for representing complex network structures in a low-dimensional space, enabling the use of efficient methods that employ the metric structure in the embedding space as a proxy for the…
Graph based representation is widely used in visual tracking field by finding correct correspondences between target parts in consecutive frames. However, most graph based trackers consider pairwise geometric relations between local parts.…
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the speed and precision of following a reference path. For…
Automated driving has become more and more popular due to its potential to eliminate road accidents by taking over driving tasks from humans. One of the remaining challenges is to follow a planned path autonomously, especially when…
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
Tracking is one of the most important but still difficult tasks in computer vision and pattern recognition. The main difficulties in the tracking field are appearance variation and occlusion. Most traditional tracking methods set the…
This paper addresses the problem of exploring a region using the Hilbert's space-filling curve in the presence of obstacles. No prior knowledge of the region being explored is assumed. An online algorithm is proposed which can implement…
In the guiding center theory, smooth unit vectors perpendicular to the magnetic field are required to define the gyrophase. The question of global existence of these vectors is addressed using a general result from the theory of…
Real-world Constrained Multi-objective Optimization Problems (CMOPs) often contain multiple constraints, and understanding and utilizing the coupling between these constraints is crucial for solving CMOPs. However, existing Constrained…
Autonomous drone navigation in confined tubular environments remains a major challenge due to the constraining geometry of the conduits, the proximity of the walls, and the perceptual limitations inherent to such scenarios. We propose a…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
{\sc Vertex $(s, t)$-Cut} and {\sc Vertex Multiway Cut} are two fundamental graph separation problems in algorithmic graph theory. We study matroidal generalizations of these problems, where in addition to the usual input, we are given a…
Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…
Path generation, the process of converting high-level mission specifications, such as sequences of waypoints from a path planner, into smooth, executable paths, is a fundamental challenge in mobile robotics. Most path following and…
In autonomous driving, robust place recognition is critical for global localization and loop closure detection. While inter-modality fusion of camera and LiDAR data in multimodal place recognition (MPR) has shown promise in overcoming the…
Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…