Related papers: VDB-EDT: An Efficient Euclidean Distance Transform…
In this paper, an efficient motion planning approach with grid-based generalized Voronoi diagrams (G$ \mathbf{^2} $VD) is newly proposed for mobile robots. Different from existing approaches, the novelty of this work is twofold: 1) a new…
Given the efficiency and equity concerns of a cordon toll, this paper proposes a few alternative distance-dependent area-based pricing models for a large-scale dynamic traffic network. We use the Network Fundamental Diagram (NFD) to monitor…
Discrete trigonometric transforms (DTTs), such as the DCT-2 and the DST-7, are widely used in video codecs for their balance between coding performance and computational efficiency. In contrast, data-dependent transforms, such as the…
Tree embedding has been a fundamental method in algorithm design with wide applications. We focus on the efficiency of building tree embedding in various computational settings under high-dimensional Euclidean $\mathbb{R}^d$. We devise a…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
Deep learning models are increasingly utilized on resource-constrained edge devices for real-time data analytics. Recently, Vision Transformer and their variants have shown exceptional performance in various computer vision tasks. However,…
Differential Dynamic Programming (DDP) is an efficient trajectory optimization algorithm relying on second-order approximations of a system's dynamics and cost function, and has recently been applied to optimize systems with time-invariant…
Vehicle trajectory prediction is central to highway perception, but deployment on roadside edge devices necessitates bounded, deterministic end-to-end latency. We present EdgeVTP, an embedded-first trajectory predictor that combines…
In this paper, we introduce a method for adapting the step-sizes of temporal difference (TD) learning. The performance of TD methods often depends on well chosen step-sizes, yet few algorithms have been developed for setting the step-size…
Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly…
Dynamic Time Wrapping (DTW) is a widely used algorithm for measuring similarities between two time series. It is especially valuable in a wide variety of applications, such as clustering, anomaly detection, classification, or video…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…
Data representation in non-Euclidean spaces has proven effective for capturing hierarchical and complex relationships in real-world datasets. Hyperbolic spaces, in particular, provide efficient embeddings for hierarchical structures. This…
Trajectories that capture object movement have numerous applications, in which similarity computation between trajectories often plays a key role. Traditionally, the similarity between two trajectories is quantified by means of heuristic…
This summary of the doctoral thesis provides a comprehensive formulation of the Extended Discrete Fourier Transform (EDFT), derived directly from the Fourier integral and its orthogonality properties. The method is obtained by solving…
Gradient-based planners are widely used for quadrotor local planning, in which a Euclidean Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction. Nevertheless, computing such a field has much redundancy…
Reconstructing signed distance functions (SDFs) from point cloud data benefits many robot autonomy capabilities, including localization, mapping, motion planning, and control. Methods that support online and large-scale SDF reconstruction…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
Visual motion detection for extremely tiny (ET-) targets is challenging, due to their category-independent nature and the scarcity of visual cues, which often incapacitate mainstream feature-based models. Natural architectures with rich…
Emergency vehicle (EV) response time is a critical determinant of survival outcomes, yet deployed signal preemption strategies remain reactive and uncontrollable. We propose a return-conditioned framework for emergency corridor optimization…