相关论文: Fast Trajectory Simplification Algorithm for Natur…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
Estimation of model parameters in a dynamic system can be significantly improved with the choice of experimental trajectory. For general, nonlinear dynamic systems, finding globally "best" trajectories is typically not feasible; however,…
Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a…
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…
This paper presents a method for improving any object tracking algorithm based on machine learning. During the training phase, important trajectory features are extracted which are then used to calculate a confidence value of trajectory.…
Multi-revolution low-thrust trajectory optimization problems are important and challenging in space mission design. In this paper, an efficient, accurate, and widely applicable pseudospectral method is proposed to solve multi-revolution…
Progress in Multiple Object Tracking (MOT) has been historically limited by the size of the available datasets. We present an efficient framework to annotate trajectories and use it to produce a MOT dataset of unprecedented size. In our…
Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…
Photomechanics is a crucial branch of solid mechanics. The localization of point targets constitutes a fundamental problem in optical experimental mechanics, with extensive applications in various missions of UAVs. Localizing moving targets…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
We propose a solution for sensor extrinsic self-calibration with very low time complexity, competitive accuracy and graceful handling of often-avoided corner cases: drift in calibration parameters and unobservable directions in the…
In this paper, a sampling-based trajectory planning algorithm for a laboratory-scale 3D gantry crane in an environment with static obstacles and subject to bounds on the velocity and acceleration of the gantry crane system is presented. The…
Flow matching policies learn continuous velocity fields that transport noise to actions, enabling fast deterministic inference for robot manipulation. However, standard training optimizes a pointwise velocity objective while inference…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Trajectory representation learning on a network enhances our understanding of vehicular traffic patterns and benefits numerous downstream applications. Existing approaches using classic machine learning or deep learning embed trajectories…
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to…
The Finite Fourier Series (FFS) Shape-Based (SB) trajectory approximation method has been used to rapidly generate initial trajectories that satisfy the dynamics, trajectory boundary conditions, and limitation on maximum thrust…
In this paper, we address the problem of efficient point searching and sampling for volume neural rendering. Within this realm, two typical approaches are employed: rasterization and ray tracing. The rasterization-based methods enable…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Nowadays, there are ubiquitousness of GPS sensors in various devices collecting, transmitting and storing tremendous trajectory data. However, such an unprecedented scale of GPS data has posed an urgent demand for not only an effective…