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Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of…
Computing globally optimal motion plans for a robot is challenging in part because it requires analyzing a robot's configuration space simultaneously from both a macroscopic viewpoint (i.e., considering paths in multiple homotopic classes)…
With the advent of large language models (LLMs), there has been a great deal of interest in applying them to solve difficult programming tasks. Recent work has demonstrated their potential at program optimization, a key challenge in…
Recent works have shown that Large Language Models (LLMs) can facilitate the grounding of instructions for robotic task planning. Despite this progress, most existing works have primarily focused on utilizing raw images to aid LLMs in…
In this paper, we propose a novel computer vision-based approach to aid Reconfigurable Intelligent Surface (RIS) for dynamic beam tracking and then implement the corresponding prototype verification system. A camera is attached at the RIS…
The problem of path planning has been studied for years. Classic planning pipelines, including perception, mapping, and path searching, can result in latency and compounding errors between modules. While recent studies have demonstrated the…
Accelerator performance often deteriorates with time during a long period of operation due to secular changes in the machine components or the surrounding environment. In many cases some tuning knobs are effective in compensating the…
Efficient motion planning algorithms are essential in robotics. Optimizing essential parameters, such as batch size and nearest neighbor selection in sampling-based methods, can enhance performance in the planning process. However, existing…
Implicit Neural representations (INRs) are widely used for scientific data reduction and visualization by modeling the function that maps a spatial location to a data value. Without any prior knowledge about the spatial distribution of…
Remote sensing image registration is valuable for image-based navigation system despite posing many challenges. As the search space of registration is usually non-convex, the optimization algorithm, which aims to search the best…
Aerial robots hold great potential for aiding Search and Rescue (SAR) efforts over large areas. Traditional approaches typically searches an area exhaustively, thereby ignoring that the density of victims varies based on predictable…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
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…
We propose a randomized first order optimization algorithm Gradient Projection Iterative Sketch (GPIS) and an accelerated variant for efficiently solving large scale constrained Least Squares (LS). We provide theoretical convergence…
The rapid advancement in capabilities of large language models (LLMs) raises a pivotal question: How can LLMs accelerate scientific discovery? This work tackles the crucial first stage of research, generating novel hypotheses. While recent…
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…
The conventional direction-of-arrival (DoA) estimation approaches only be effective when the line-of-sight (LoS) link exists, while in the case of the non-line-of-sight (NLoS) situation, the spatial angle can not be captured and thus the…
The use of multiple Reconfigurable Intelligent Sur- faces (RIS) has gained attention in 6G networks to enhance coverage. However, the feasibility of deploying multiple RIS relies on efficient channel estimation and reduced pilot overhead.…
This paper introduces LIVE: Lidar Informed Visual Search focused on the problem of multi-robot (MR) planning and execution for robust visual detection of multiple objects. We perform extensive real-world experiments with a two-robot team in…
Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…