相关论文: 3D-Algorithms of Composed Pursuit Navigation

This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…

In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…

In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…

In this paper, two novel algorithms for features selection are proposed. The first one is a filter method while the second is wrapper method. Both the proposed algorithms use the crowding distance used in the multiobjective optimization as…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…

A greedy pursuit strategy which finds a common basis for approximating a set of similar signals is proposed. The strategy extends the Optimized Orthogonal Matching Pursuit approach to selecting the subspace containing the approximation of…

Multiple Object Tracking (MOT) has rapidly progressed in recent years. Existing works tend to design a single tracking algorithm to perform both detection and association. Though ensemble learning has been exploited in many tasks, i.e,…

We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one…

Multiple Object Tracking (MOT) is a core capability in modern computer vision, essential to autonomous driving, surveillance, sports analytics, robotics, and biomedical imaging. Persistent identity assignment across frames remains…

The convergence and numerical analysis of a low memory implementation of the Orthogonal Matching Pursuit greedy strategy, which is termed Self Projected Matching Pursuit, is presented. This approach renders an iterative way of solving the…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…

The single-step explicit time integration methods have long been valuable for solving large-scale nonlinear structural dynamic problems, classified into single-solve and multi-sub-step approaches. However, no existing explicit single-solve…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Projection algorithms are well known for their simplicity and flexibility in solving feasibility problems. They are particularly important in practice due to minimal requirements for software implementation and maintenance. In this work, we…

In subspace clustering, a group of data points belonging to a union of subspaces are assigned membership to their respective subspaces. This paper presents a new approach dubbed Innovation Pursuit (iPursuit) to the problem of subspace…

Ground robot navigation in complex 3D environments is often hindered by geometric ambiguity, where non-traversable structures such as furniture share local geometric properties with navigable ground. Furthermore, the computational cost of…

We consider a new control strategy for marine navigation, equipped with finite-time convergence characteristics. We provide mathematical guarantees for waypoint reaching and obstacle avoidance for different encounter scenarios, by deriving…