Related papers: On Dynamic Ray Tracing and Anticipative Channel Pr…
Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. Desired trajectory is needed in the…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Echo-location is a broad approach to imaging and sensing that includes both man-made RADAR, LIDAR, SONAR and also animal navigation. However, full 3D information based on echo-location requires some form of scanning of the scene in order to…
Cooperative path planning is gaining its importance due to the increasing demand on using multiple unmanned aerial vehicles (UAVs) for complex missions. This work addresses the problem by introducing a new algorithm named MultiRRT that…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…
We present a novel approach for long-term human trajectory prediction in indoor human-centric environments, which is essential for long-horizon robot planning in these environments. State-of-the-art human trajectory prediction methods are…
Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot…
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the speed and precision of following a reference path. For…
Site-specific radio frequency (RF) propagation prediction increasingly relies on models built from visual data such as cameras and LIDAR sensors. When operating in dynamic settings, the environment may only be partially observed. This paper…
Automotive radar has increasingly attracted attention due to growing interest in autonomous driving technologies. Acquiring situational awareness using multimodal data collected at high sampling rates by various sensing devices including…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Domain-adaptive trajectory imitation is a skill that some predators learn for survival, by mapping dynamic information from one domain (their speed and steering direction) to a different domain (current position of the moving prey). An…
Ray tracing has become a standard for accurate radio propagation modeling, but suffers from exponential computational complexity, as the number of candidate paths scales with the number of objects raised to the interaction order. This…
Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic…
Ray tracing accelerated with graphics processing units (GPUs) is an accurate and efficient simulation technique of wireless communication channels. In this paper, we extend a GPU-accelerated ray tracer (RT) to support the effects of…
Rescue robotics sets high requirements to perception algorithms due to the unstructured and potentially vision-denied environments. Pivoting Frequency-Modulated Continuous Wave radars are an emerging sensing modality for SLAM in this kind…
Radio maps (RMs) serve as a critical foundation for enabling environment-aware wireless communication, as they provide the spatial distribution of wireless channel characteristics. Despite recent progress in RM construction using…
We propose a novel framework for multi-person 3D motion trajectory prediction. Our key observation is that a human's action and behaviors may highly depend on the other persons around. Thus, instead of predicting each human pose trajectory…
The increasing demand for autonomous systems in complex and dynamic environments has driven significant research into intelligent path planning methodologies. For decades, graph-based search algorithms, linear programming techniques, and…