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Drift analysis is a powerful tool for analyzing the time complexity of evolutionary algorithms. However, it requires manual construction of drift functions to bound hitting time for each specific algorithm and problem. To address this…

The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…

Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for…

GPS-based vehicle localization and tracking suffers from unstable positional information commonly experienced in tunnel segments and in dense urban areas. Also, both Visual Odometry (VO) and Visual Inertial Odometry (VIO) are susceptible to…

Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…

Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…

Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skidding and slipping. In this work, using Gaussian Process…

Place recognition is a crucial component that enables autonomous vehicles to obtain localization results in GPS-denied environments. In recent years, multimodal place recognition methods have gained increasing attention. They overcome the…

We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…

Collision detection between two convex shapes is an essential feature of any physics engine or robot motion planner. It has often been tackled as a computational geometry problem, with the Gilbert, Johnson and Keerthi (GJK) algorithm being…

Recently there has been growing interest in the use of aerial and satellite map data for autonomous vehicles, primarily due to its potential for significant cost reduction and enhanced scalability. Despite the advantages, aerial data also…

Online planning of collision-free trajectories is a fundamental task for robotics and self-driving car applications. This paper revisits collision avoidance between ellipsoidal objects using differentiable constraints. Two ellipsoids do not…

Probabilistic state-estimation approaches offer a principled foundation for designing localization systems, because they naturally integrate sequences of imperfect motion and exteroceptive sensor data. Recently, probabilistic localization…

Traffic Intersections are vital to urban road networks as they regulate the movement of people and goods. However, they are regions of conflicting trajectories and are prone to accidents. Deep Generative models of traffic dynamics at…

Geometry and topology have generated impacts far beyond their pure mathematical primitive, providing a solid foundation for many applicable tools. Typically, real-world data are represented as vectors, forming a linear subspace for a given…

For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…

In this work, the geodesic equations and their numerical solution in Cartesian coordinates on an oblate spheroid, presented by Panou and Korakitis (2017), are generalized on a triaxial ellipsoid. A new exact analytical method and a new…

A new method to represent and approximate rotation matrices is introduced. The method represents approximations of a rotation matrix $Q$ with linearithmic complexity, i.e. with $\frac{1}{2}n\lg(n)$ rotations over pairs of coordinates,…

In this paper, we present a method for localizing a query image with respect to a precomputed 3D Gaussian Splatting (3DGS) scene representation. First, the method uses 3DGS to render a synthetic RGBD image at some initial pose estimate.…

In well-studied graph modification problems, adding and deleting vertices and edges are used as graph editing operations. We propose a model for graph modification on geometric intersection graphs called Geometric Graph Edit Distance that…