相关论文: MOC - HEALPix Multi-Order Coverage map Version 1.0

Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…

In the present work, a highly efficient Moving Morphable Component (MMC) based approach for multi-resolution topology optimization is proposed. In this approach, high-resolution optimization results can be obtained with much less number of…

Multi-UAV Coverage Path Planning (mCPP) algorithms in popular commercial software typically treat a Region of Interest (RoI) only as a 2D plane, ignoring important3D structure characteristics. This leads to incomplete 3Dreconstructions,…

Despite the recent successes of multi-agent reinforcement learning (MARL) algorithms, efficiently adapting to co-players in mixed-motive environments remains a significant challenge. One feasible approach is to hierarchically model…

Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…

In science and engineering, intelligent processing of complex signals such as images, sound or language is often performed by a parameterized hierarchy of nonlinear processing layers, sometimes biologically inspired. Hierarchical systems…

Covering problems are well-studied in the domain of Operations Research, and, more specifically, in Location Science. When the location space is a network, the most frequent assumption is to consider the candidate facility locations, the…

A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solves a multi-vehicle optimal control problem (MVOCP) that…

Over-the-air computation (AirComp) leveraging the superposition property of wireless multiple-access channel (MAC), is a promising technique for effective data collection and computation of large-scale wireless sensor measurements in…

We introduce a novel framework for multiway point cloud mosaicking (named Wednesday), designed to co-align sets of partially overlapping point clouds -- typically obtained from 3D scanners or moving RGB-D cameras -- into a unified…

This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…

We present an autonomous exploration system for efficient coverage of unknown environments. First, a rapid environment preprocessing method is introduced to provide environmental information for subsequent exploration planning. Then, the…

This paper describes the problem of coordination of an autonomous Multi-Agent System which aims to solve the coverage planning problem in a complex environment. The considered applications are the detection and identification of objects of…

In this paper, we propose a method for generating a hierarchical, volumetric topological map from 3D point clouds. There are three basic hierarchical levels in our map: $storey - region - volume$. The advantages of our method are reflected…

Mode division multiplexing (MDM) is mooted as a technology to address future bandwidth issues, and has been successfully demonstrated in free space using spatial modes with orbital angular momentum (OAM). To further increase the data…

We present a next-generation neural network architecture, MOSAIC, for efficient and accurate semantic image segmentation on mobile devices. MOSAIC is designed using commonly supported neural operations by diverse mobile hardware platforms…

Soils have been heralded as a hidden resource that can be leveraged to mitigate and address some of the major global environmental challenges. Specifically, the organic carbon stored in soils, called Soil Organic Carbon (SOC), can, through…

Recent matrix completion based methods have not been able to properly model the Haplotype Assembly Problem (HAP) for noisy observations. To cope with such a case, in this letter we propose a new Minimum Error Correction (MEC) based matrix…

Compared with common image segmentation tasks targeted at low-resolution images, higher resolution detailed image segmentation receives much less attention. In this paper, we propose and study a task named Meticulous Object Segmentation…

Multi-Agent Path Finding is a fundamental problem in robotics and AI, yet most existing formulations treat planning and execution separately and address variants of the problem in an ad hoc manner. This paper presents a system-level…