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The automatic inspection of surface defects is an important task for quality control in the computers, communications, and consumer electronics (3C) industry. Conventional devices for defect inspection (viz. line-scan sensors) have a…
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
In this paper a deep reinforcement based multi-agent path planning approach is introduced. The experiments are realized in a simulation environment and in this environment different multi-agent path planning problems are produced. The…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
A new robust algorithm for the numerical computation of biarcs, i.e. $G^1$ curves composed of two arcs of circle, is presented. Many algorithms exist but are based on geometric constructions, which must consider many geometrical…
The inverse kinematics (IK) problem of continuum robots has been investigated in depth in the past decades. Under the constant-curvature bending assumption, closed-form IK solution has been obtained for continuum robots with variable…
We call a continuous path of polygons decreasing if the convex hulls of the polygons form a decreasing family of sets. For an arbitrary polygon of more than three vertices, we characterize the polygons contained in it that can be reached by…
Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under complex constraints. We present IKSPARK (Inverse Kinematics using…
We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are geometrically characterized by the fact that the moving…
Unsupervised deep learning approaches have recently become one of the crucial research areas in imaging owing to their ability to learn expressive and powerful reconstruction operators even when paired high-quality training data is scarcely…
Domain discretization is an essential part of the solution procedure in numerical simulations. Meshless methods simplify the domain discretization to positioning of nodes in the interior and on the boundary of the domain. However, generally…
The Covering Salesman Problem (CSP) is a generalization of the Traveling Salesman Problem in which the tour is not required to visit all vertices, as long as all vertices are covered by the tour. The objective of CSP is to find a minimum…
We propose Bidirectional Shape Correspondence (BSC) as a possible improvement on the famous shape contexts (SC) framework. Our proposals derive from the observation that the SC framework enforces a one-to-one correspondence between sample…
A Dynamic Programming based polynomial worst case time and space algorithm is described for computing Hamiltonian Path of a directed graph. Complexity constructive proofs along with a tested C++ implementation are provided as well. The…
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
The selection of best variables is a challenging problem in supervised and unsupervised learning, especially in high dimensional contexts where the number of variables is usually much larger than the number of observations. In this paper,…