相关论文: On Vehicle Placement to Intercept Moving Targets
This paper optimizes the step coefficients of first-order methods for smooth convex minimization in terms of the worst-case convergence bound (i.e., efficiency) of the decrease in the gradient norm. This work is based on the performance…
We consider the problem of incentivization and optimal control of autonomous vehicles for improving traffic congestion. In our scenario, autonomous vehicles must be incentivized in order to participate in traffic improvement. Using the…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
Monocular camera systems are prevailing in intelligent transportation systems, but by far they have rarely been used for dimensional purposes such as to accurately estimate the localization information of a vehicle. In this paper, we show…
Optimal transport is widely used to learn distributions, enforce distributional constraints, and model uncertainty. In applications, transport losses are often computed from samples through tractable representations, such as one-dimensional…
This paper presents a novel approach for vehicle localization by leveraging the ambient magnetic field within a given environment. Our approach involves introducing a global mathematical function for magnetic field mapping, combined with…
Optimal mass transport, also known as the earth mover's problem, is an optimization problem with important applications in various disciplines, including economics, probability theory, fluid dynamics, cosmology and geophysics to cite a few.…
This paper proposes a set of novel optimization algorithms for solving a class of convex optimization problems with time-varying streaming cost function. We develop an approach to track the optimal solution with a bounded error. Unlike the…
We present an iterative method to efficiently solve the optimal transportation problem for a class of strictly convex costs which includes quadratic and p-power costs. Given two probability measures supported on a discrete grid with n…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
Charging infrastructure is the coupling link between power and transportation networks, thus determining charging station siting is necessary for planning of power and transportation systems. While previous works have either optimized for…
This paper studies a distributed multi-agent convex optimization problem. The system comprises multiple agents in this problem, each with a set of local data points and an associated local cost function. The agents are connected to a…
This work shows the existence of optimal control laws for persistent monitoring of mobile targets in a one-dimensional mission space and derives explicit solutions. The underlying performance metric consists of minimizing the total…
For deterministic optimization, line-search methods augment algorithms by providing stability and improved efficiency. We adapt a classical backtracking Armijo line-search to the stochastic optimization setting. While traditional…
We consider robotic pick-and-place of partially visible, novel objects, where goal placements are non-trivial, e.g., tightly packed into a bin. One approach is (a) use object instance segmentation and shape completion to model the objects…
Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two…
We present a particle-based framework for estimating the position of a vehicle using map information and measurements of speed. Two measurement functions are considered. The first is based on the assumption that the lateral force on the…
The demand for autonomous vehicles is increasing gradually owing to their enormous potential benefits. However, several challenges, such as vehicle localization, are involved in the development of autonomous vehicles. A simple and secure…