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Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…
Biological organisms exhibit diverse strategies for adapting to varying environments. For example, a population of organisms may express the same phenotype in all environments (`unvarying strategy'), or follow environmental cues and express…
Robotic systems for household object rearrangement often rely on latent preference models inferred from human demonstrations. While effective at prediction, these models offer limited insight into the interpretable factors that guide human…
Our recent paper [Grauwin et al. Sci. Rep. 7 (2017)] demonstrates that community and hierarchical structure of the networks of human interactions largely determines the least and should be taken into account while modeling them. In the…
Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
The tasks that an agent will need to solve often are not known during training. However, if the agent knows which properties of the environment are important then, after learning how its actions affect those properties, it may be able to…
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten…
Understanding the effects of built environment on physical activity is important for promoting healthy lifestyles in cities. Yet, very few studies have used objective continuous location data and measures of physical activity while…
Depending on the route, runners may experience frustration, freedom, or fulfilment. However, finding routes that are conducive to the psychological experience of running remains an unresolved task in the literature. In a mixed-method study,…
Understanding design decisions in relation to the future occupants of a building is a crucial part of good design. However, limitations in tools and expertise hinder meaningful human-centric decisions during the design process. In this…
Formation of a layered structure is studied in a globally coupled map of chaotic units with a plastic coupling strength that changes depending on the states of units globally and an external input. In the parameter region characterized by…
Students express a wide range of preferences for learning environments. We are trying to measure the manifestation of learning styles in various learning environments. In particular, we are interested in performance in an environment that…
Rapid sampling from the environment to acquire available frontier points and timely incorporating them into subsequent planning to reduce fragmented regions are critical to improve the efficiency of autonomous exploration. We propose HPHS,…
The growing significance of ridesourcing services in recent years suggests a need to examine the key determinants of ridesourcing demand. However, little is known regarding the nonlinear effects and spatial heterogeneity of ridesourcing…
This paper describes the best first search strategy used by U-Plan (Mansell 1993a), a planning system that constructs quantitatively ranked plans given an incomplete description of an uncertain environment. U-Plan uses uncertain and…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
Making sense of the world and acting in it relies on building simplified mental representations that abstract away aspects of reality. This principle of cognitive mapping is universal to agents with limited resources. Living organisms,…
In the ecological approach to perception and action, information that specifies affordances is available in the energy arrays surrounding organisms, and this information is detected by organisms in order to perceptually guide their actions.…
We propose the Selective Densification method for fast motion planning through configuration space. We create a sequence of roadmaps by iteratively adding configurations. We organize these roadmaps into layers and add edges between…