Related papers: Handling Constrained Optimization in Factor Graphs…
Sideslip angle is an important variable for understanding and monitoring vehicle dynamics but it lacks an inexpensive method for direct measurement. Therefore, it is typically estimated from inertial and other proprioceptive sensors onboard…
Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses the problem of outliers through robust loss functions, it…
Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning for autonomous systems. However, the performance of the GNSS positioning is significantly challenged in urban…
Deep learning approaches have shown promising results in solving routing problems. However, there is still a substantial gap in solution quality between machine learning and operations research algorithms. Recently, another line of research…
In this paper, we address a class of specially structured problems that include speed planning, for mobile robots and robotic manipulators, and dynamic programming. We develop two new numerical procedures, that apply to the general case and…
In this paper we consider discrete robot path planning problems on metric graphs. We propose a clustering method, Gamma-Clustering for the planning graph that significantly reduces the number of feasible solutions, yet retains a solution…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…
Many combinatorial optimization problems can be phrased in the language of constraint satisfaction problems. We introduce a graph neural network architecture for solving such optimization problems. The architecture is generic; it works for…
The rise of large language models (LLMs) has made natural language-driven route planning an emerging research area that encompasses rich user objectives. Current research exhibits two distinct approaches: direct route planning using…
A dynamic graph algorithm is a data structure that supports edge insertions, deletions, and specific problem queries. While extensive research exists on dynamic algorithms for graph problems solvable in polynomial time, most of these…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
In this work, we develop a new framework for dynamic network flow problems based on optimal transport theory. We show that the dynamic multi-commodity minimum-cost network flow problem can be formulated as a multi-marginal optimal transport…
We investigate multi-agent navigation tasks, where multiple agents need to reach initially unassigned goals in a limited time. Classical planning-based methods suffer from expensive computation overhead at each step and offer limited…
3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extends the concept of 3D scene graph to SLAM by tightly coupling…
This paper explores the use of factor graphs as an inference and analysis tool for Bayesian peer-to-peer decentralized data fusion. We propose a framework by which agents can each use local factor graphs to represent relevant partitions of…
The graph-navigability problem concerns how one can find as short paths as possible between a pair of vertices, given an incomplete picture of a graph. We study the navigability of graphs where the vertices are tagged by a number (between 1…
Among sub-optimal MAPF solvers, rule-based algorithms are particularly appealing since they are complete. Even in crowded scenarios, they allow finding a feasible solution that brings each agent to its target, preventing deadlock…
Policy gradient methods can solve complex tasks but often fail when the dimensionality of the action-space or objective multiplicity grow very large. This occurs, in part, because the variance on score-based gradient estimators scales…