Related papers: Barycode-based GJK Algorithm
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
We consider the problem of graph searching with prediction recently introduced by Banerjee et al. (2022). In this problem, an agent, starting at some vertex $r$ has to traverse a (potentially unknown) graph $G$ to find a hidden goal node…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Mobile robots in dynamic environments require fast planning, especially when onboard computational resources are limited. While classic potential field based algorithms may suffice in simple scenarios, in most cases algorithms able to…
The current paper investigates the bounded distance decoding (BDD) problem for ensembles of lattices whose generator matrices have sub-Gaussian entries. We first prove that, for these ensembles the BDD problem is NP-hard in the worst case.…
We study a general smallest intersecting ball problem and its soft-margin variant in high-dimensional Euclidean spaces for input objects that are compact and convex. These two problems link and unify a series of fundamental problems in…
Weighted Hamming distance, as a similarity measure between binary codes and binary queries, provides superior accuracy in search tasks than Hamming distance. However, how to efficiently and accurately find $K$ binary codes that have the…
The complexity of nearest-neighbor search dominates the asymptotic running time of many sampling-based motion-planning algorithms. However, collision detection is often considered to be the computational bottleneck in practice. Examining…
It is well known that there have been many numerical algorithms for solving nonsmooth minimax problems, numerical algorithms for nonsmooth minimax problems with joint linear constraints are very rare. This paper aims to discuss optimality…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
Efficient algorithms are presented for constructing spanners in geometric intersection graphs. For a unit ball graph in R^k, a (1+\epsilon)-spanner is obtained using efficient partitioning of the space into hypercubes and solving…
Monocular 3D object detection is of great significance for autonomous driving but remains challenging. The core challenge is to predict the distance of objects in the absence of explicit depth information. Unlike regressing the distance as…
Recent years have witnessed the rapid development of block coordinate update (BCU) methods, which are particularly suitable for problems involving large-sized data and/or variables. In optimization, BCU first appears as the coordinate…
In this paper we present a novel randomized block coordinate descent method for the minimization of a convex composite objective function. The method uses (approximate) partial second-order (curvature) information, so that the algorithm…
In this paper, we propose a gradient-based block coordinate descent (BCD-G) framework to solve the joint approximate diagonalization of matrices defined on the product of the complex Stiefel manifold and the special linear group. Instead of…
We propose a modification of the GPGCD algorithm, which has been presented in our previous research, for calculating approximate greatest common divisor (GCD) of more than 2 univariate polynomials with real coefficients and a given degree.…
This paper presents a method to merge Generalized Minimum Distance decoding of Reed-Solomon codes with the extended Euclidean algorithm. By merge, we mean that the steps taken to perform the Generalized Minimum Distance decoding are similar…
In human-robot collaboration, there has been a trade-off relationship between the speed of collaborative robots and the safety of human workers. In our previous paper, we introduced a time-optimal path tracking algorithm designed to…
In this paper, we propose a distributed algorithm to solve planar minimum time multi-vehicle rendezvous problem with non-identical velocity constraints on cyclic digraph (topology). Motivated by the cyclic alternating projection method that…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…