Related papers: Efficient Path Generation with Curvature Guarantee…
In industrial Internet environments, mobile robots must generate collision-free global routes under stochastic obstacle layouts and random perturbations in commanded linear and angular velocities. This paper models a differential-drive…
Trajectory generation is an important task in movement studies; it circumvents the privacy, ethical, and technical challenges of collecting real trajectories from the target population. In particular, real trajectories in the wildlife…
Abstraction is a successful technique in software verification, and interpolation on infeasible error paths is a successful approach to automatically detect the right level of abstraction in counterexample-guided abstraction refinement.…
This work presents a new path classification criterion to distinguish paths geometrically and topologically from the workspace, which is divided through cell decomposition, generating a medial-axis-like skeleton structure. We use this…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
Generative navigation policies have made rapid progress in improving end-to-end learned navigation. Despite their promising results, this paradigm has two structural problems. First, the sampled trajectories exist in an abstract, unscaled…
Molecular conformation generation, a critical aspect of computational chemistry, involves producing the three-dimensional conformer geometry for a given molecule. Generating molecular conformation via diffusion requires learning to reverse…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
Tubular structure tracking is a crucial task in the fields of computer vision and medical image analysis. The minimal paths-based approaches have exhibited their strong ability in tracing tubular structures, by which a tubular structure can…
Motion generation, the task of synthesizing realistic motion sequences from various conditioning inputs, has become a central problem in computer vision, computer graphics, and robotics, with applications ranging from animation and virtual…
Flow-based frame interpolation methods ensure motion stability through estimated intermediate flow but often introduce severe artifacts in complex motion regions. Recent generative approaches, boosted by large-scale pre-trained video…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the…
We provide a novel approach to construct generative models for graphs. Instead of using the traditional probabilistic models or deep generative models, we propose to instead find an algorithm that generates the data. We achieve this using…
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…
This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest.…
The motion planning problem of generating dynamically feasible, collision-free trajectories in non-convex environments is a fundamental challenge for autonomous systems. Decomposing the problem into path planning and path tracking improves…
Coordination behavior in robot swarms is inherently multi-modal in nature. That is, there are numerous ways in which a swarm of robots can avoid inter-agent collisions and reach their respective goals. However, the problem of generating…
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…
Large Language Models are transforming software development by automatically generating code. Current prompting techniques such as Chain-of-Thought (CoT) suggest tasks step by step and the reasoning process follows a linear structure, which…