Related papers: Highly Efficient Observation Process based on FFT …
This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
Low-light remote sensing images generally feature high resolution and high spatial complexity, with continuously distributed surface features in space. This continuity in scenes leads to extensive long-range correlations in spatial domains…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
In this work, we investigate swarm self-clustering, where robots autonomously organize into spatially coherent groups using only local sensing and decision-making, without external commands, global positioning, or inter-robot communication.…
This paper proposes a model-based framework to automatically and efficiently design understandable and verifiable behaviors for swarms of robots. The framework is based on the automatic extraction of two distinct models: 1) a neural network…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems…
Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…
We propose fast and communication-efficient optimization algorithms for multi-robot rotation averaging and translation estimation problems that arise from collaborative simultaneous localization and mapping (SLAM), structure-from-motion…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
The nonlinear Fourier transform (NFT) has recently gained significant attention in fiber optic communications and other engineering fields. Although several numerical algorithms for computing the NFT have been published, the design of…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
Environmental disasters such as flash floods are becoming more and more prevalent and carry an increasing burden on human civilization. They are usually unpredictable, fast in development, and extend across large geographical areas. The…
The fast Fourier transform (FFT) is undoubtedly an essential primitive that has been applied in various fields of science and engineering. In this paper, we present a decomposition method for parallelization of multi-dimensional FFTs with…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
To address limitations of the graph fractional Fourier transform (GFRFT) Wiener filtering and the traditional joint time-vertex fractional Fourier transform (JFRFT) Wiener filtering, this study proposes a filtering method based on the…
A significant challenge in the study of transient astrophysical phenomena is the identification of bogus events, among which human-made satellites and debris in Earth orbit remain major contaminants. Existing pipelines effectively identify…