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In robotics, it is essential to be able to plan efficiently in high-dimensional continuous state-action spaces for long horizons. For such complex planning problems, unguided uniform sampling of actions until a path to a goal is found is…
Path planning plays an important role in autonomous robot systems. Effective understanding of the surrounding environment and efficient generation of optimal collision-free path are both critical parts for solving path planning problem.…
This paper describes and evaluates the use of Generative Adversarial Networks (GANs) for path planning in support of smart mobility applications such as indoor and outdoor navigation applications, individualized wayfinding for people with…
Sampling-based path planning algorithms play an important role in autonomous robotics. However, a common problem among these algorithms is that the initial path generated is not optimal, and the convergence is too slow for real-world…
Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…
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.…
Robot path planning is difficult to solve due to the contradiction between optimality of results and complexity of algorithms, even in 2D environments. To find an optimal path, the algorithm needs to search all the state space, which costs…
This paper presents a novel method for accelerating path-planning tasks in unknown scenes with obstacles by utilizing Wasserstein Generative Adversarial Networks (WGANs) with Gradient Penalty (GP) to approximate the distribution of…
We propose a new approach to Generative Adversarial Networks (GANs) to achieve an improved performance with additional robustness to its so-called and well recognized mode collapse. We first proceed by mapping the desired data onto a…
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…
The standard practice in Generative Adversarial Networks (GANs) discards the discriminator during sampling. However, this sampling method loses valuable information learned by the discriminator regarding the data distribution. In this work,…
Many engineering problems require the prediction of realization-to-realization variability or a refined description of modeled quantities. In that case, it is necessary to sample elements from unknown high-dimensional spaces with possibly…
Generative adversarial networks (GANs) provide a way to learn deep representations without extensively annotated training data. They achieve this through deriving backpropagation signals through a competitive process involving a pair of…
Generative networks are fundamentally different in their aim and methods compared to CNNs for classification, segmentation, or object detection. They have initially not been meant to be an image analysis tool, but to produce naturally…
Adversarial attacks on image classification systems have always been an important problem in the field of machine learning, and generative adversarial networks (GANs), as popular models in the field of image generation, have been widely…
The natural interaction between robots and pedestrians in the process of autonomous navigation is crucial for the intelligent development of mobile robots, which requires robots to fully consider social rules and guarantee the psychological…
This paper presents a novel deep learning based data-driven optimization method. A novel generative adversarial network (GAN) based data-driven distributionally robust chance constrained programming framework is proposed. GAN is applied to…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…
This paper presents a novel method for accelerating path planning tasks in unknown scenes with obstacles by utilizing Wasserstein Generative Adversarial Networks (WGANs) with Gradient Penalty (GP) to approximate the distribution of the free…