Related papers: Track A*: Fast Visibility-Aware Trajectory Plannin…
Motion-planning problems, such as manipulation in cluttered environments, often require a collision-free shortest path to be computed quickly given a roadmap graph. Typically, the computational cost of evaluating whether an edge of the…
Robots and autonomous vehicles should be aware of what happens in their surroundings. The segmentation and tracking of moving objects are essential for reliable path planning, including collision avoidance. We investigate this estimation…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…
Recent spatio-temporal data applications, such as car-shar\-ing and smart cities, impose new challenges regarding the scalability and timeliness of data processing systems. Trajectory compression is a promising approach for scaling up…
Agile attitude maneuvering maximizes the utility of remote sensing satellite constellations. By taking into account a satellite's physical properties and its actuator specifications, we may leverage the full performance potential of the…
Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper, we propose a spatio-temporal trajectory planning method…
This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…
Autonomous high-speed navigation through large, complex environments requires real-time generation of agile trajectories that are dynamically feasible, collision-free, and satisfy constraints. Most modern trajectory planning techniques rely…
For visual object tracking, it is difficult to realize an almighty online tracker due to the huge variations of target appearance depending on an image sequence. This paper proposes an online tracking method that adaptively aggregates…
The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…
This work investigates an efficient trajectory generation for chasing a dynamic target, which incorporates the detectability objective. The proposed method actively guides the motion of a cinematographer drone so that the color of a target…
Large language models (LLMs) rely on self-attention for contextual understanding, demanding high-throughput inference and large-scale token parallelism (LTPP). Existing dynamic sparsity accelerators falter under LTPP scenarios due to…
In this work, we explore the Transcriptomics Atlas pipeline adapted for cost-efficient and high-throughput computing in the cloud. We propose a scalable, cloud-native architecture designed for running a resource-intensive aligner -- STAR --…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
This paper improves state-of-the-art visual object trackers that use online adaptation. Our core contribution is an offline meta-learning-based method to adjust the initial deep networks used in online adaptation-based tracking. The meta…
We present a technique for verifying or refuting exoplanet candidates from the Transiting Exoplanet Survey Satellite (TESS) mission by searching for nearby eclipsing binary stars using higher-resolution archival images from ground-based…
We present improvements to a recently developed method for trajectory planning for autonomous surface vehicles (ASVs) in terms of run time. The original method combines two types of planners: An A* implementation that quickly finds the…
Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…