Related papers: Plane-Activated Mapped Microstructure
In this paper, the problem of automating the pre-grasps generation for novel 3d objects has been discussed. The objects represented as cloud of 3D points are split into parts and organized in a tree structure, where parts are approximated…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…
Microstructure reconstruction and compression techniques are designed to find a microstructure with desired properties. While the microstructure reconstruction searches for a microstructure with prescribed statistical properties, the…
In recent years, there has been a growing interest in accelerated materials innovation in the context of the process-structure-property chain. In this regard, it is essential to take into account manufacturing processes and tailor materials…
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the…
Connecting cosmological simulations to real-world observational programs is often complicated by a mismatch in geometry: while surveys often cover highly irregular cosmological volumes, simulations are customarily performed in a periodic…
Designing metamaterials that carry out advanced computations poses a significant challenge. A powerful design strategy splits the problem into two steps: First, encoding the desired functionality in a discrete or tight-binding model, and…
Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
A central idea in understanding brains and building artificial intelligence is that structure determines function. Yet, how the brain's complex structure arises from a limited set of genetic instructions remains a key question. The ultra…
Tree covering is a technique for decomposing a tree into smaller-sized trees with desirable properties, and has been employed in various succinct data structures. However, significant hurdles stand in the way of a practical implementation…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
The multi-scale factor models are particularly appealing for analyzing matrix- or tensor-valued data, due to their adaptiveness to local geometry and intuitive interpretation. However, the reliance on the binary tree for recursive…
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…
Limited capture range, and the requirement to provide high quality initialization for optimization-based 2D/3D image registration methods, can significantly degrade the performance of 3D image reconstruction and motion compensation…
When modeling microstructures, the computational resource requirements increase rapidly as the simulation domain becomes larger. As a result, simulating a small representative fraction under periodic boundary conditions is often a necessary…
In science and engineering, intelligent processing of complex signals such as images, sound or language is often performed by a parameterized hierarchy of nonlinear processing layers, sometimes biologically inspired. Hierarchical systems…
Connected operators are filtering tools that act by merging elementary regions of an image. A popular strategy is based on tree-based image representations: for example, one can compute an attribute on each node of the tree and keep only…
Advances in robotics, artificial intelligence, and machine learning are ushering in a new age of automation, as machines match or outperform human performance. Machine intelligence can enable businesses to improve performance by reducing…
A novel approach for creating tool paths for continuous carbon fiber-reinforced thermoplastic 3D printing is introduced. The aim is to enable load-bearing connections while avoiding non-manufacturable crossings of paths by generating layer…