Related papers: Generating Minimum-Snap Quadrotor Trajectories Rea…
Ordinary differential equations that model technical systems often contain states, that are considered dangerous for the system. A trajectory that reaches such a state usually indicates a flaw in the design. In this paper, we present and…
As a kind of fully actuated system, omnidirectional multirotor aerial vehicles (OMAVs) has more flexible maneuverability than traditional underactuated multirotor aircraft, and it also has more significant advantages in obstacle avoidance…
We investigate the problem of efficiently computing optimal transport (OT) distances, which is equivalent to the node-capacitated minimum cost maximum flow problem in a bipartite graph. We compare runtimes in computing OT distances on data…
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints effectively and provide a high numerical robustness, but they…
Motivated by multi-domain service function chain (SFC) orchestration, we define the shortest-longest path (SLP) problem, prove its hardness, and design an efficient fully polynomial time approximation scheme (FPTAS) using the dynamic…
We have found provably optimal algorithms for full-domain discrete-ordinate transport sweeps on a class of grids in 2D and 3D Cartesian geometry that are regular at a coarse level but arbitrary within the coarse blocks. We describe these…
Generative network models play an important role in algorithm development, scaling studies, network analysis, and realistic system benchmarks for graph data sets. The commonly used graph-based benchmark model R-MAT has some drawbacks…
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
Counting the frequency of small subgraphs is a fundamental technique in network analysis across various domains, most notably in bioinformatics and social networks. The special case of triangle counting has received much attention. Getting…
The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…
This paper presents a decentralized multi-agent trajectory planning (MATP) algorithm that guarantees to generate a safe, deadlock-free trajectory in an obstacle-rich environment under a limited communication range. The proposed algorithm…
Convolutional neural networks (CNNs) have demonstrated their superiority in numerous computer vision tasks, yet their computational cost results prohibitive for many real-time applications such as pedestrian detection which is usually…
This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. Our trajectory generation approach leverages particle swarm optimization (PSO) techniques, incorporating Neural…
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been shown to be a viable approach that can be made to support…
This paper considers real-time dispatching for large-scale ride-sharing services over a rolling horizon. It presents RTDARS which relies on a column-generation algorithm to minimize wait times while guaranteeing short travel times and…
In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can be trained to directly map state to actuator command making…
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…
In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as an obstacle appearing across a planned trajectory. In…