相关论文: Generating Paths with WFC

Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…

On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…

The sequential nature of autoregressive next-token prediction imposes a fundamental speed limit on large language models. While continuous flow models offer a path to parallel generation, they traditionally demand expensive iterative…

Optimization based motion planning provides a useful modeling framework through various costs and constraints. Using Graph of Convex Sets (GCS) for trajectory optimization gives guarantees of feasibility and optimality by representing…

Recent years have witnessed some exciting developments in the domain of generating images from scene-based text descriptions. These approaches have primarily focused on generating images from a static text description and are limited to…

Graph grammars form an interesting area of research because of their versatility in modelling diverse situations with graphs as the structures which are to be manipulated. A new class of graph grammars, nc-eNCE Graph Grammars has been…

Random graphs are a central element of the study of complex dynamical networks such as the internet, the brain, or socioeconomic phenomena. New methods to generate random graphs can spawn new applications and give insights into more…

In this work, we leverage GPUs to construct probabilistically collision-free convex sets in robot configuration space on the fly. This extends the use of modern motion planning algorithms that leverage such representations to changing…

Lattice paths are functional entities that model efficient navigation in discrete/grid maps. This paper presents a new scheme to generate collision-free lattice paths with utmost efficiency using the bijective property to rooted ordered…

In this work, we propose a novel and efficient method for smoothing polylines in motion planning tasks. The algorithm applies to motion planning of vehicles with bounded curvature. In the paper, we show that the generated path: 1) has…

Human motion synthesis is a fundamental task in computer animation. Recent methods based on diffusion models or GPT structure demonstrate commendable performance but exhibit drawbacks in terms of slow sampling speeds and error accumulation.…

Sampling-based model predictive controllers generate trajectories by sampling control inputs from a fixed, simple distribution such as the normal or uniform distributions. This sampling method yields trajectory samples that are tightly…

This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible…

Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…

Gaussian processes are a fundamental statistical tool used in a wide range of applications. In the spatio-temporal setting, several families of covariance functions exist to accommodate a wide variety of dependence structures arising in…

Trying to enumerate all of the walks in a 2D lattice is a fun combinatorial problem and there are numerous applications, from polymers to sports. Computers provide a wonderful tool for analyzing these walks; we provide a Maple package for…

If the video has long been mentioned as a widespread visualization form, the animation sequence in the video is mentioned as storytelling for people. Producing an animation requires intensive human labor from skilled professional artists to…

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…

Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this…