相关论文: Planning With Discrete Harmonic Potential Fields

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their…

High connectivity and robustness are critical requirements in distributed networks, as they ensure resilience, efficient communication, and adaptability in dynamic environments. Additionally, optimizing energy consumption is also paramount…

Deterministic planning assumes that the planning evolves along a fully predictable path, and therefore it loses the practical value in most real projections. A more realistic view is that planning ought to take into consideration partial…

This paper presents a novel federated learning solution, QHetFed, suitable for large-scale Internet of Things deployments, addressing the challenges of large geographic span, communication resource limitation, and data heterogeneity.…

Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…

In this paper, we study path planning algorithms of resource constrained mobile agents in unknown cluttered environments, which include but are not limited to various terrestrial missions e.g., search and rescue missions by drones in…

Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…

Autonomous ground vehicle systems have found extensive potential and practical applications in the modern world. The development of an autonomous ground vehicle poses a significant challenge, particularly in identifying the best path plan,…

This work presents an safe and efficient methodology for autonomous indoor exploration with aerial robots using Harmonic Potential Fields (HPF). The challenge of applying HPF in complex 3D environments rests on high computational load…

Dense Associative Memories or Modern Hopfield Networks have many appealing properties of associative memory. They can do pattern completion, store a large number of memories, and can be described using a recurrent neural network with a…

Iterative Proportional Fitting (IPF), combined with EM, is commonly used as an algorithm for likelihood maximization in undirected graphical models. In this paper, we present two iterative algorithms that generalize upon IPF. The first one…

Although many real-world stochastic planning problems are more naturally formulated by hybrid models with both discrete and continuous variables, current state-of-the-art methods cannot adequately address these problems. We present the…

This paper presents a novel distributed approach for solving AC power flow (PF) problems. The optimization problem is reformulated into a distributed form using a communication structure corresponding to a hypergraph, by which complex…

Distance functions between points in a domain are sometimes used to automatically plan a gradient-descent path towards a given target point in the domain, avoiding obstacles that may be present. A key requirement from such distance…

Multi-Agent Path Finding (MAPF) is essential to large-scale robotic systems. Recent methods have applied reinforcement learning (RL) to learn decentralized polices in partially observable environments. A fundamental challenge of obtaining…

This paper presents a robust computationally efficient real-time collision avoidance algorithm for Unmanned Aerial Vehicle (UAV), namely Memory-based Wall Following-Artificial Potential Field (MWF-APF) method. The new algorithm switches…

Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…

Traditional deep learning relies on end-to-end backpropagation for training, but it suffers from drawbacks such as high memory consumption and not aligning with biological neural networks. Recent advancements have introduced locally…

In-network computation represents a transformative approach to addressing the escalating demands of Artificial Intelligence (AI) workloads on network infrastructure. By leveraging the processing capabilities of network devices such as…

This work tackles the challenges of data heterogeneity and communication limitations in decentralized federated learning. We focus on creating a collaboration graph that guides each client in selecting suitable collaborators for training…