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Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…

Trajectory data mining is crucial for smart city management. However, collecting large-scale trajectory datasets is challenging due to factors such as commercial conflicts and privacy regulations. Therefore, we urgently need trajectory…

In this paper, we present a novel path planning algorithm to achieve fast path planning in complex environments. Most existing path planning algorithms are difficult to quickly find a feasible path in complex environments or even fail.…

In this paper we propose a novel end-to-end learnable network that performs joint perception, prediction and motion planning for self-driving vehicles and produces interpretable intermediate representations. Unlike existing neural motion…

High-dimensional manipulator operation in unstructured environments requires a differentiable, scene-agnostic distance query mechanism to guide safe motion generation. Existing geometric collision checkers are typically non-differentiable,…

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environment. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion)…

In distributed function computation, each node has an initial value and the goal is to compute a function of these values in a distributed manner. In this paper, we propose a novel token-based approach to compute a wide class of target…

Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

Network-on-chip (NoC) architectures have been proposed as a promising alternative to classical bus-based communication architectures. In this paper, we propose a two phases framework to solve application-specific NoCs topology generation…

We propose a new method for collision-free planning using Conditional Generative Adversarial Networks (cGANs) to transform between the robot's joint space and a latent space that captures only collision-free areas of the joint space,…

In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…

Prediction tasks over nodes and edges in networks require careful effort in engineering features used by learning algorithms. Recent research in the broader field of representation learning has led to significant progress in automating…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…

Topology Optimization (TO) provides a systematic approach for obtaining structure design with optimum performance of interest. However, the process requires numerical evaluation of objective function and constraints at each iteration, which…

In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…

We present an integrated machine learning framework that transforms how manufacturing cost is estimated from 2D engineering drawings. Unlike traditional quotation workflows that require labor-intensive process planning, our approach about…

Control Barrier Functions (CBF) are widely used to enforce the safety-critical constraints on nonlinear systems. Recently, these functions are being incorporated into a path planning framework to design safety-critical path planners.…