相关论文: Maze solving Algorithm for line following robot an…
Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…
Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…
We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…
We overview experimental laboratory prototypes of maze solvers. We speculate that all maze solvers implement Lee algorithm by first developing a gradient of values showing a distance from any site of the maze to the destination site and…
A block decomposition method is proposed for minimizing a (possibly non-convex) continuously differentiable function subject to one linear equality constraint and simple bounds on the variables. The proposed method iteratively selects a…
Let $P$ be a path graph of $n$ vertices embedded in a metric space. We consider the problem of adding a new edge to $P$ so that the radius of the resulting graph is minimized, where any center is constrained to be one of the vertices of…
The Longest Path Problem is a question of finding the maximum length between pairs of vertices of a graph. In the general case, the problem is NP-complete. However, there is a small collection of graph classes for which there exists an…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
For a set of robots (or agents) moving in a graph, two properties are highly desirable: confidentiality (i.e., a message between two agents must not pass through any intermediate agent) and efficiency (i.e., messages are delivered through…
A new algorithm is presented for computing a direct solution to a system of consistent linear equations. It produces a minimum norm particular solution, a generalized inverse (of type {124}), and a null space projection operator. In…
Large graphs are difficult to represent, visualize, and understand. In this paper, we introduce "gate graph" - a new approach to perform graph simplification. A gate graph provides a simplified topological view of the original graph.…
The calculation of shortest-path distances in road networks is a core operation in navigation systems, location-based services, and spatial analytics. Although classical algorithms, e.g., Dijkstra's algorithm, provide exact answers, their…
Consider a finite directed graph without cycles in which the arrows are weighted. We present an algorithm for the computation of a new distance, called path-length-weighted distance, which has proven useful for graph analysis in the context…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a higher level while being invariant to the appearance of the…
A subspace method is introduced to solve large-scale trace ratio problems. This approach is matrix-free, requiring only the action of the two matrices involved in the trace ratio. At each iteration, a smaller trace ratio problem is…
Given an undirected, weighted graph, with $n$ vertices and $m$ edges, and two special vertices $s$ and $t$, the problem is to find the shortest path between them. We give two bounded-error quantum algorithms with improved runtime in the…
We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…
In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…