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Moving animal groups consist of many distinct individuals but can operate and function as one unit when performing different tasks. Effectively evading unexpected predator attacks is one primary task for many moving groups. The current…
Pedestrian trajectory prediction plays an important role in autonomous driving systems and robotics. Recent work utilizing prominent deep learning models for pedestrian motion prediction makes limited a priori assumptions about human…
This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
Grasping manipulation is a fundamental mode for human interaction with daily life objects. The synthesis of grasping motion is also greatly demanded in many applications such as animation and robotics. In objects grasping research field,…
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their…
Tracking specific targets, such as pedestrians and vehicles, has been the focus of recent vision-based multitarget tracking studies. However, in some real-world scenarios, unseen categories often challenge existing methods due to…
This work presents a density-based framework for safe navigation in dynamic environments characterized by time-varying obstacle sets and time-varying target regions. We propose an analytical construction of time-varying density functions…
Camera traps enable the automatic collection of large quantities of image data. Ecologists use camera traps to monitor animal populations all over the world. In order to estimate the abundance of a species from camera trap data, ecologists…
A new dynamic control algorithm in order to direct the trajectory of a glider to a pre-assigned target point is proposed. The algorithms runs iteratively and the approach to the target point is self-correcting. The algorithm is applicable…
Diverse collective dynamics emerge in dynamical systems interacting on top of complex network architectures. Along this line of research, temporal network has come out to be one of the most promising network platforms to investigate.…
This paper studies a defense approach against a swarm of adversarial agents. We employ a closed formation (`StringNet') of defending agents around the adversarial agents to restrict their motion and guide them to a safe area while…
We present DINO-Tracker -- a new framework for long-term dense tracking in video. The pillar of our approach is combining test-time training on a single video, with the powerful localized semantic features learned by a pre-trained DINO-ViT…
Intelligent service robots require the ability to perform a variety of tasks in dynamic environments. Despite the significant progress in robotic grasping, it is still a challenge for robots to decide grasping position when given different…
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…
A one-dimensional system of two trapped bosons which interact through a contact potential is studied using the optimized configuration interaction method. The rapid convergence of the method is demonstrated for trapping potentials of convex…
This chapter extends the family of perception-informed gap-based local planners to dynamic environments. Existing perception-informed local planners that operate in dynamic environments often rely on emergent or empirical robustness for…
This work explores a variation of the art gallery problem in which a team of static and mobile guards track a mobile intruder with unknown maximum speed. First, we present an algorithm to identify {\it candidate vertices} in a polygon at…
Detecting small targets at range is difficult because there is not enough spatial information present in an image sub-region containing the target to use correlation-based methods to differentiate it from dynamic confusers present in the…
Robustly tracking a person of interest in the crowd with a robotic platform is one of the cornerstones of human-robot interaction. The robot platform which is limited by the computational power, rapid movements, and occlusions of the target…