Related papers: Cooperative Target Capture using Voronoi Region Sh…
In this paper, we propose a method for tracking structures (e.g., ventricles and myocardium) in cardiac images (e.g., magnetic resonance) by propagating forward in time a previous estimate of the structures via a new deformation estimation…
When a team of agents, such as unmanned aerial/underwater vehicles, are operating in $3$-dimensional space, their coordinated action in pursuit of a cooperative task generally requires all agents to either share a common coordinate system…
Most current results on coverage control using mobile sensors require that one partitioned cell is associated with precisely one sensor. In this paper, we consider a class of coverage control problems involving higher order Voronoi…
Flying through body-size narrow gaps in the environment is one of the most challenging moments for an underactuated multirotor. We explore a purely data-driven method to master this flight skill in simulation, where a neural network…
State-of-the-art object detection systems rely on an accurate set of region proposals. Several recent methods use a neural network architecture to hypothesize promising object locations. While these approaches are computationally efficient,…
A continuous motion planning method for connected automated vehicles is considered for generating feasible trajectories in real-time using three consecutive clothoids. The proposed method reduces path planning to a small set of nonlinear…
Autonomous Underwater Vehicles (AUVs) have shown great potential for cooperative detection and reconnaissance. However, collaborative AUV communications introduce risks of exposure. In adversarial environments, achieving efficient…
We study a pursuit-evasion problem which can be viewed as an extension of the keep-away game. In the game, pursuer(s) will attempt to intersect or catch the evader, while the evader can visit a fixed set of locations, which we denote as the…
Recent works have shown that convolutional networks have substantially improved the performance of multiple object tracking by simultaneously learning detection and appearance features. However, due to the local perception of the…
In this paper, we propose to compute Voronoi diagrams over mesh surfaces driven by an arbitrary geodesic distance solver, assuming that the input is a triangle mesh as well as a collection of sites $P=\{p_i\}_{i=1}^m$ on the surface. We…
Current state-of-the-art trackers only rely on a target appearance model in order to localize the object in each frame. Such approaches are however prone to fail in case of e.g. fast appearance changes or presence of distractor objects,…
In classical works on a planar differential pursuit-evasion game with a faster pursuer, the intercept point resulting from the equilibrium strategies lies on the Apollonius circle. This property was exploited for the construction of the…
Collaborative navigation becomes essential in situations of occluded scenarios in autonomous driving where independent driving policies are likely to lead to collisions. One promising approach to address this issue is through the use of…
Enabling humanoid robots to clean rooms has long been a pursued dream within humanoid research communities. However, many tasks require multi-humanoid collaboration, such as carrying large and heavy furniture together. Given the scarcity of…
Autonomous flying robots, such as multirotors, often rely on deep learning models that make predictions based on a camera image, e.g. for pose estimation. These models can predict surprising results if applied to input images outside the…
Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the…
A central problem of surveillance is to monitor multiple targets moving in a large-scale, obstacle-ridden environment with occlusions. This paper presents a novel principled Partially Observable Markov Decision Process-based approach to…
Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amount of map storage space and online computing time, they are…
In this paper, we study the cooperative set tracking problem for a group of Lagrangian systems. Each system observes a convex set as its local target. The intersection of these local sets is the group aggregation target. We first propose a…
In this Paper we propose a simple yet effective set of local control rules to make a group of "herder agents" collect and contain in a desired region an ensemble of non-cooperative stochastic "target agents" in the plane. We investigate the…