Related papers: Spiral Complete Coverage Path Planning Based on Co…

Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…

Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…

Purpose: Common dense stereo Simultaneous Localization and Mapping (SLAM) approaches in Minimally Invasive Surgery (MIS) require high-end parallel computational resources for real-time implementation. Yet, it is not always feasible since…

This paper provides a novel approach to stitching surface images of rotationally symmetric parts. It presents a process pipeline that uses a feature-based stitching approach to create a distortion-free and true-to-life image from a video…

In x-ray microscopy, traditional raster-scanning techniques are used to acquire a microscopic image in a series of step-scans. Alternatively, scanning the x-ray probe along a continuous path, called a fly-scan, reduces scan time and…

This paper addresses path set planning that yields important applications in robot manipulation and navigation such as path generation for deformable object keypoints and swarms. A path set refers to the collection of finite agent paths to…

Numerous applications require the simultaneous redistribution of the irradiance and phase of a laser beam. The beam shape is thereby determined by the respective application. An elegant way to control the irradiance and phase at the same…

Given the spline representation of the boundary of a three dimensional domain, constructing a volumetric spline parameterization of the domain (i.e., a map from a unit cube to the domain) with the given boundary is a fundamental problem in…

The demand for high-fidelity numerical simulations in soil-structure interaction analysis is on the rise, yet a standardized workflow to guide the creation of such simulations remains elusive. This paper aims to bridge this gap by…

Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

We develop a new approach for distributed distance computation in planar graphs that is based on a variant of the metric compression problem recently introduced by Abboud et al. [SODA'18]. One of our key technical contributions is in…

Cutting plane methods, particularly outer approximation, are a well-established approach for solving nonlinear discrete optimization problems without relaxing the integrality of decision variables. While powerful in theory, their…

Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path planning benefits greatly from multiple robots. In this paper,…

We present PIE, a scalable routing scheme that achieves 100% packet delivery and low path stretch. It is easy to implement in a distributed fashion and works well when costs are associated to links. Scalability is achieved by using virtual…

The research on multi-robot coverage path planning (CPP) has been attracting more and more attention. In order to achieve efficient coverage, this paper proposes an improved DARP coverage algorithm. The improved DARP algorithm based on A*…

Conformal prediction is a framework for providing prediction intervals with distribution-free validity, guaranteeing predictive coverage for data drawn from any distribution. Its two main variants are full conformal prediction and split…

Adaptive isogeometric methods for the solution of partial differential equations rely on the construction of locally refinable spline spaces. A simple and efficient way to obtain these spaces is to apply the multi-level construction of…

Although Simultaneous Localization and Mapping (SLAM) has been an active research topic for decades, current state-of-the-art methods still suffer from instability or inaccuracy due to feature insufficiency or its inherent estimation drift,…

A novel conformal mapping based Fractional Order (FO) methodology is developed in this paper for tuning existing classical (Integer Order) Proportional Integral Derivative (PID) controllers especially for sluggish and oscillatory second…