Related papers: Ergodic Exploration over Meshable Surfaces
Achieving tight bounding boxes of a shape while guaranteeing complete boundness is an essential task for efficient geometric operations and unsupervised semantic part detection. But previous methods fail to achieve both full coverage and…
Lazy search algorithms can efficiently solve problems where edge evaluation is the bottleneck in computation, as is the case for robotic motion planning. The optimal algorithm in this class, LazySP, lazily restricts edge evaluation to only…
In partially known environments, robots must combine exploration to gather information with task planning for efficient execution. To address this challenge, we propose EPoG, an Exploration-based sequential manipulation Planning framework…
Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescues, deliveries, and so forth. Therefore, unmanned aerial…
This paper presents the Embedding Pose Graph (EPG), an innovative method that combines the strengths of foundation models with a simple 3D representation suitable for robotics applications. Addressing the need for efficient spatial…
Robots struggle to understand object properties like shape, material, and semantics due to limited prior knowledge, hindering manipulation in unstructured environments. In contrast, humans learn these properties through interactive…
Within a mathematically rigorous model, we analyse the curse of dimensionality for deterministic exact similarity search in the context of popular indexing schemes: metric trees. The datasets $X$ are sampled randomly from a domain $\Omega$,…
We consider a scenario in which an autonomous vehicle equipped with a downward facing camera operates in a 3D environment and is tasked with searching for an unknown number of stationary targets on the 2D floor of the environment. The key…
For approximate nearest neighbor search, graph-based algorithms have shown to offer the best trade-off between accuracy and search time. We propose the Dynamic Exploration Graph (DEG) which significantly outperforms existing algorithms in…
Quantifying long-term statistical properties of satellite trajectories typically entails time-consuming trajectory propagation. We present a fast, ergodic\cite{Arnold} method of analytically estimating these for $J_2-$perturbed elliptical…
Anytime heuristic search algorithms try to find a (potentially suboptimal) solution as quickly as possible and then work to find better and better solutions until an optimal solution is obtained or time is exhausted. The most widely-known…
Approximate inference algorithm is one of the fundamental research fields in machine learning. The two dominant theoretical inference frameworks in machine learning are variational inference (VI) and Markov chain Monte Carlo (MCMC).…
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization (TO) methods demonstrate success in…
Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…
Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended…
Metric search is concerned with the efficient evaluation of queries in metric spaces. In general,a large space of objects is arranged in such a way that, when a further object is presented as a query, those objects most similar to the query…
Geodesic distance, commonly called shortest path length, has proved useful in a great variety of disciplines. It has been playing a significant role in search engine at present and so attracted considerable attention at the last few…
Inspection planning, the task of planning motions that allow a robot to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robotics. Inspection planning can be computationally…
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…
This paper presents a novel on-line path planning method that enables aerial robots to interact with surfaces. We present a solution to the problem of finding trajectories that drive a robot towards a surface and move along it. Triangular…