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Urban rail transit often operates with high service frequencies to serve heavy passenger demand during rush hours. Such operations can be delayed by two types of congestion: train congestion and passenger congestion, both of which interact…
Given the necessity of connecting the unconnected, covering blind spots has emerged as a critical task in the next-generation wireless communication network. A direct solution involves obtaining a coverage manifold that visually showcases…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
This paper proposes a method for automatic generation of textures for 3D city meshes in immersive urban environments. Many recent pipelines capture or synthesize large quantities of city geometry using scanners or procedural modeling…
Geometric graphs appear in many real-world data sets, such as road networks, sensor networks, and molecules. We investigate the notion of distance between embedded graphs and present a metric to measure the distance between two geometric…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
To perform visual data exploration, many dimensionality reduction methods have been developed. These tools allow data analysts to represent multidimensional data in a 2D or 3D space, while preserving as much relevant information as…
Neural implicit surface representations have recently emerged as popular alternative to explicit 3D object encodings, such as polygonal meshes, tabulated points, or voxels. While significant work has improved the geometric fidelity of these…
The control of traffic signals is fundamental and critical to alleviate traffic congestion in urban areas. However, it is challenging since traffic dynamics are complicated in real-world scenarios. Because of the high complexity of the…
The lack of generalization in learning-based autonomous driving applications is shown by the narrow range of road scenarios that vehicles can currently cover. A generalizable approach should capture many distinct road structures and…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
Intelligent motion planning is one of the core components in automated vehicles, which has received extensive interests. Traditional motion planning methods suffer from several drawbacks in terms of optimality, efficiency and generalization…
Optimizing passengers routes is crucial to design efficient transportation networks. Recent results show that optimal transport provides an efficient alternative to standard optimization methods. However, it is not yet clear if this…
We propose a new approach, named PolyMapper, to circumvent the conventional pixel-wise segmentation of (aerial) images and predict objects in a vector representation directly. PolyMapper directly extracts the topological map of a city from…
3D mapping in dynamic environments poses a challenge for modern researchers in robotics and autonomous transportation. There are no universal representations for dynamic 3D scenes that incorporate multimodal data such as images, point…
A map merging component is crucial for the proper functionality of a multi-robot system performing exploration, since it provides the means to integrate and distribute the most important information carried by the agents: the…
Social networks are the fabric of society and the subject of frequent visual analysis. Closed triads represent triangular relationships between three people in a social network and are significant for understanding inherent interconnections…
We propose a centralized transportation system that integrates public transit with ridesharing to provide multimodal transportation. At each time interval, the system receives a set of personal drivers, designated drivers, and public…
A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…
In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…