相关论文: 3D-Algorithms of Composed Pursuit Navigation
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…
This technical report presents the online and real-time 2D and 3D multi-object tracking (MOT) algorithms that reached the 1st places on both Waymo Open Dataset 2D tracking and 3D tracking challenges. An efficient and pragmatic online…
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…
Friedman and Linial introduced the convex body chasing problem to explore the interplay between geometry and competitive ratio in metrical task systems. In convex body chasing, at each time step $t \in \mathbb{N}$, the online algorithm…
This paper proposes a metric for sets of trajectories to evaluate multi-object tracking algorithms that includes time-weighted costs for localisation errors of properly detected targets, for false targets, missed targets and track switches.…
Crowd navigation has garnered considerable research interest in recent years, especially with the proliferating application of deep reinforcement learning (DRL) techniques. Many studies, however, do not sufficiently analyze the relative…
The cosparse analysis model has been introduced recently as an interesting alternative to the standard sparse synthesis approach. A prominent question brought up by this new construction is the analysis pursuit problem -- the need to find a…
Ladars provide a unique capability for identification of objects and motions in scenes with fixed 3D field of view (FOV). This paper describes algorithms for multi-target tracking in 3D scenes including the preprocessing (mathematical…
Generative navigation policies have made rapid progress in improving end-to-end learned navigation. Despite their promising results, this paradigm has two structural problems. First, the sampled trajectories exist in an abstract, unscaled…
This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
This paper studies a problem of controlling trajectories of a platoon of vehicles on a highway segment with connected and automated vehicles. This problem is complex because each vehicle trajectory is an infinite-dimensional object and…
For compressive sensing of dynamic sparse signals, we develop an iterative pursuit algorithm. A dynamic sparse signal process is characterized by varying sparsity patterns over time/space. For such signals, the developed algorithm is able…
Motion planning in navigation systems is highly susceptible to upstream perceptual errors, particularly in human detection and tracking. To mitigate this issue, the concept of guidance points--a novel directional cue within a reinforcement…
Several different ways exist for approaching hard optimization problems. Mathematical programming techniques, including (integer) linear programming-based methods and metaheuristic approaches, are two highly successful streams for…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development.…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…