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This research proposes a hybrid Machine Learning and metaheuristic mechanism that is designed to solve Vehicle Routing Problems (VRPs). The main of our method is an edge solution selector model, which classifies solution edges to identify…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
Drawings of non-planar graphs always result in edge crossings. When there are many edges crossing at small angles, it is often difficult to follow these edges, because of the multiple visual paths resulted from the crossings that slow down…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
This paper describes a method of online refinement of a scene recognition model for robot navigation considering traversable plants, flexible plant parts which a robot can push aside while moving. In scene recognition systems that consider…
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with…
Finding the shortest paths in road network is an important query in our life nowadays, and various index structures are constructed to speed up the query answering. However, these indexes can hardly work in real-life scenario because the…
Evolving trees arise in many real-life scenarios from computer file systems and dynamic call graphs, to fake news propagation and disease spread. Most layout algorithms for static trees do not work well in an evolving setting (e.g., they…
Road detection or traversability analysis has been a key technique for a mobile robot to traverse complex off-road scenes. The problem has been mainly formulated in early works as a binary classification one, e.g. associating pixels with…
Successful deployment of mobile robots in unstructured domains requires an understanding of the environment and terrain to avoid hazardous areas, getting stuck, and colliding with obstacles. Traversability estimation--which predicts where…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
We consider single-source shortest path algorithms that perform a sequence of relaxation steps whose ordering depends only on the input graph structure and not on its weights or the results of prior steps. Each step examines one edge of the…
We study the problem of estimating the number of edges in an unknown graph. We consider a hybrid model in which an algorithm may issue independent set, degree, and neighbor queries. We show that this model admits strictly more efficient…
Directed graphs provide more subtle and precise modelling tools for optimization in road networks than simple graphs. In particular, they are more suitable in the context of alternative fuel vehicles and new automotive technologies, like…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Accurately predicting road networks from satellite images requires a global understanding of the network topology. We propose to capture such high-level information by introducing a graph-based framework that simulates the addition of…
In this paper, we study whether inexpensive, physics-free supervision can reliably prioritize grasp-place candidates for budget-aware pick-and-place. From an object's initial pose, target pose, and a candidate grasp, we generate two…
The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan length). This problem has applications across many domains where…
We consider directed graphs with edge labels from a semiring. We present an algorithm that allows efficient execution of queries for existence and weights of paths, and allows updates of the graph: adding nodes and edges, and changing…
Finding the shortest path distance between an arbitrary pair of vertices is a fundamental problem in graph theory. A tremendous amount of research has been successfully attempted on this problem, most of which is limited to static graphs.…