Related papers: Track A*: Fast Visibility-Aware Trajectory Plannin…
Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be…
This work proposes a framework for the robust design of UAV-assisted wireless networks that combine 3D trajectory optimization with user mobility prediction to address dynamic resource allocation challenges. We proposed a sparse…
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic…
3D single object tracking within LIDAR point clouds is a pivotal task in computer vision, with profound implications for autonomous driving and robotics. However, existing methods, which depend solely on appearance matching via Siamese…
The speed-precision trade-off is a critical problem for visual object tracking which usually requires low latency and deployment on constrained resources. Existing solutions for efficient tracking mainly focus on adopting light-weight…
Online contextual reasoning and association across consecutive video frames are critical to perceive instances in visual tracking. However, most current top-performing trackers persistently lean on sparse temporal relationships between…
This paper presents a Robot Operating System and Gazebo application to calculate and simulate an optimal route for a drone in an urban environment by developing new ROS packages and executing them along with open-source tools. Firstly, the…
The STAR architecture was designed to test the value of the full Selective Tuning model of visual attention for complex real-world visuospatial tasks and behaviors. However, knowledge of how humans solve such tasks in 3D as active observers…
Despite the trend towards ubiquitous wireless connectivity, there are scenarios where the communications infrastructure is damaged and wireless coverage is insufficient or does not exist, such as in natural disasters and temporary crowded…
Automated Parking Assist (APA) systems are now facing great challenges of low adoption in applications, due to users' concerns about parking capability, reliability, and completion efficiency. To upgrade the conventional APA planners and…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
UAV trajectory planning is often done in a two-step approach, where a low-dimensional path is refined to a dynamic trajectory. The resulting trajectories are only locally optimal, however. On the other hand, direct planning in…
The Euclidean Signed Distance Field (ESDF) is widely used in visibility evaluation to prevent occlusions and collisions during tracking. However, frequent ESDF updates introduce considerable computational overhead. To address this issue, we…
Accurate prediction of traffic accident severity is critical for improving road safety, optimizing emergency response strategies, and informing the design of safer transportation infrastructure. However, existing approaches often struggle…
This paper presents a novel storage aware routing (STAR) protocol designed to provide a general networking solution over a broad range of wired and wireless usage scenarios. STAR enables routing policies which adapt seamlessly from a…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…
Utilizing autonomous drones or unmanned aerial vehicles (UAVs) has shown great advantages over preceding methods in support of urgent scenarios such as search and rescue (SAR) and wildfire detection. In these operations, search efficiency…
We consider convex, black-box objective functions with additive or multiplicative noise with a high-dimensional parameter space and a data space of lower dimension, where gradients of the map exist, but may be inaccessible. We investigate…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…