Related papers: A Rapid Adapting and Continual Learning Spiking Ne…
Typical marine environments are highly complex with spatio-temporally varying currents and dynamic obstacles, presenting significant challenges to Unmanned Surface Vehicles (USVs) for safe and efficient navigation. Thus, the USVs need to…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Integrating artificial intelligence (AI) into sampling-based motion planning provides new possibilities for improving autonomous navigation efficiency. In this paper, three algorithms, namely RRT*, Neural RRT*, and Neural Informed RRT*, are…
Spiking neural networks are nature's versatile solution to fault-tolerant and energy efficient signal processing. To translate these benefits into hardware, a growing number of neuromorphic spiking neural network processors attempt to…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Spiking Neural Networks (SNNs) have recently gained popularity as machine learning models for on-device edge intelligence for applications such as mobile healthcare management and natural language processing due to their low power profile.…
This work presents an approach to learn path planning for robot social navigation by demonstration. We make use of Fully Convolutional Neural Networks (FCNs) to learn from expert's path demonstrations a map that marks a feasible path to the…
Spiking Neural Networks (SNNs) have gained popularity due to their high energy efficiency. Prior works have proposed various methods for training SNNs, including backpropagation-based methods. Training SNNs is computationally expensive…
Fleets of autonomous vehicles (AV) often are at the core of intelligent transportation scenarios for smart cities, and may require a wireless Internet connection to offload computer vision tasks to data centers located either in the edge or…
Spiking Neural Networks (SNNs) have emerged as a popular spatio-temporal computing paradigm for complex vision tasks. Recently proposed SNN training algorithms have significantly reduced the number of time steps (down to 1) for improved…
Sampling-based Motion Planners (SMPs) have become increasingly popular as they provide collision-free path solutions regardless of obstacle geometry in a given environment. However, their computational complexity increases significantly…
Graph Neural Networks (GNNs) have demonstrated impressive capabilities in modeling graph-structured data, while Spiking Neural Networks (SNNs) offer high energy efficiency through sparse, event-driven computation. However, existing spiking…
We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself…
The rising demand for energy-efficient edge AI systems (e.g., mobile agents/robots) has increased the interest in neuromorphic computing, since it offers ultra-low power/energy AI computation through spiking neural network (SNN) algorithms…
Energy efficiency and low latency are crucial requirements for designing wearable AI-empowered human activity recognition systems, due to the hard constraints of battery operations and closed-loop feedback. While neural network models have…
We consider the informative path planning ($\mathtt{IPP}$) problem in which a robot interacts with an uncertain environment and gathers information by visiting locations. The goal is to minimize its expected travel cost to cover a given…
One of the challenges of modern neuroscience is creating a "living computer" based on neural networks grown in vitro. Such an artificial device is supposed to perform neurocomputational tasks and interact with the environment when embodied…
Path planning algorithms fundamentally aim to compute collision-free paths, with many works focusing on finding the optimal distance path. However, for several applications, a more suitable approach is to balance response time, path safety,…
Sampling-based motion planners such as Rapidly-exploring Random Tree* (RRT*) and its informed variant IRRT* are widely used for optimal path planning in complex environments. However, these methods often suffer from slow convergence and…
Achieving social acceptance is one of the main goals of Social Robotic Navigation. Despite this topic has received increasing interest in recent years, most of the research has focused on driving the robotic agent along obstacle-free…