Related papers: Open Area Path Finding to Improve Wheelchair Navig…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…

Operating in previously visited environments is becoming increasingly crucial for autonomous systems, with direct applications in autonomous driving, surveying, and warehouse or household robotics. This repeated exposure to observing the…

Visualizing spatial data on small-screen devices such as smartphones and smartwatches poses new challenges in computational cartography. The current interfaces for map exploration require their users to zoom in and out frequently. Indeed,…

Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping…

The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…

The majority of current approaches in autonomous driving rely on High-Definition (HD) maps which detail the road geometry and surrounding area. Yet, this reliance is one of the obstacles to mass deployment of autonomous vehicles due to poor…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

This paper introduces a novel motion planning algorithm for stochastic scenarios. We extend the concept of a navigation function to such scenarios. Our main idea is to consider both the Gaussian distribution probabilities of the players'…

Locally-biased graph algorithms are algorithms that attempt to find local or small-scale structure in a large data graph. In some cases, this can be accomplished by adding some sort of locality constraint and calling a traditional graph…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

This paper introduces our methodology to estimate sidewalk accessibilities from wheelchair behavior via a triaxial accelerometer in a smartphone installed under a wheelchair seat. Our method recognizes sidewalk accessibilities from…

Human mobility analysis at urban-scale requires models to represent the complex nature of human movements, which in turn are affected by accessibility to nearby points of interest, underlying socioeconomic factors of a place, and local…

Place recognition plays a crucial role in navigational assistance, and is also a challenging issue of assistive technology. The place recognition is prone to erroneous localization owing to various changes between database and query images.…

Bike-sharing systems (BSSs) are deployed in over a thousand cities worldwide and play an important role in many urban transportation systems. BSSs alleviate congestion, reduce pollution and promote physical exercise. It is essential to…

Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…

For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…

Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…

Single path routing that is currently used in the internet routers,is easy to implement as it simplifies the routing tables and packet flow paths. However it is not optimal and has shortcomings in utilizing the network resources optimally,…

Accessibility for the physically disabled is a prevalent issue on university campuses, where stairs and steep slopes make navigating campus arduous. Our work proposes a pipeline to model a college campus as a network by combining Strava and…