Related papers: Multi-Resolution A*
Recent studies on neural architecture search have shown that automatically designed neural networks perform as good as expert-crafted architectures. While most existing works aim at finding architectures that optimize the prediction…
Multiple rotation averaging (MRA) is a fundamental optimization problem in 3D vision and robotics that aims to recover globally consistent absolute rotations from noisy relative measurements. Established classical methods, such as L1-IRLS…
Random Access (RA) Medium Access (MAC) protocols are simple and effective when the nature of the traffic is unpredictable and random. In the following paper, a novel RA protocol called Enhanced Contention Resolution ALOHA (ECRA) is…
We extend Random Access, a fundamental operation that enables efficient search and exploration algorithms, to the modern interactive data systems based on Ranked Retrieval and Similarity Search, where orderings are dynamically defined over…
In this paper, we explore the application of Unmanned Aerial Vehicles (UAVs) in maritime search and rescue (mSAR) missions, focusing on medium-sized fixed-wing drones and quadcopters. We address the challenges and limitations inherent in…
This study informs the design of future multi-agent pathfinding (MAPF) and multi-robot motion planning (MRMP) algorithms by guiding choices based on constraint classification for constraint-based search algorithms. We categorize constraints…
Retrieval-based multimodal document QA aims to identify and integrate relevant information from visually rich documents with complex multimodal structures. While retrieval-augmented generation (RAG) has shown strong performance in…
We address the motion planning problem for multiple robotic manipulators in packed environments where shared workspace can result in goal positions occupied or blocked by other robots unless those other robots move away to make the goal…
Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…
Finding an high-quality solution for the tabletop object rearrangement planning is a challenging problem. Compared to determining a goal arrangement, rearrangement planning is challenging due to the dependencies between objects and the…
Metaheuristic algorithms are essential for solving complex optimization problems in different fields. However, the difficulty in comparing and rating these algorithms remains due to the wide range of performance metrics and problem…
Path planning is one of the most vital elements of mobile robotics. With a priori knowledge of the environment, global path planning provides a collision-free route through the workspace. The global path plan can be calculated with a…
In this paper, we address the problem of direction of arrival (DOA) estimation for multiple targets in the presence of sensor failures in a sparse array. Generally, sparse arrays are known with very high-resolution capabilities, where N…
Balancing cost and performance is crucial when choosing high- versus low-resolution point-cloud roadside sensors. For example, LiDAR delivers dense point cloud, while 4D millimeter-wave radar, though spatially sparser, embeds velocity cues…
This paper describes a number of distributed forward search algorithms for solving multi-agent planning problems. We introduce a distributed formulation of non-optimal forward search, as well as an optimal version, MAD-A*. Our algorithms…
Small scale fading makes the wireless channel gain vary significantly over small distances and in the context of classical communication systems it can be detrimental to performance. But in the context of mobile robot (MR) wireless…
This paper introduces a hybrid algorithm of deep reinforcement learning (RL) and Force-based motion planning (FMP) to solve distributed motion planning problem in dense and dynamic environments. Individually, RL and FMP algorithms each have…
Robots are increasingly deployed in dynamic and crowded environments, such as urban areas and shopping malls, where efficient and robust navigation is crucial. Traditional risk-based motion planning algorithms face challenges in such…
Effectively performing object rearrangement is an essential skill for mobile manipulators, e.g., setting up a dinner table or organizing a desk. A key challenge in such problems is deciding an appropriate manipulation order for objects to…
Multireference alignment (MRA) problem is to estimate an underlying signal from a large number of noisy circularly-shifted observations. The existing methods are always proposed under the hypothesis of a single Gaussian noise. However, the…