相关论文: A context-based geoprocessing framework for optimi…
This study proposes to find the most appropriate transport modes with awareness of user preferences (e.g., costs, times) and trip characteristics (e.g., purpose, distance). The work was based on real-life trips obtained from a map…
A rich vehicle routing problem is considered, allowing multiple trips of heterogeneous vehicles stationed at geographically distributed vehicle depots having access to different modes of transportation. The problem arises from the…
In this paper we describe a framework towards computing well-localized, robust motion plans through the perception-aware motion planning problem, whereby we seek a low-cost motion plan subject to a separate constraint on perception…
This paper investigates the optimal signal detection problem with a particular interest in large-scale multiple-input multiple-output (MIMO) systems. The problem is NP-hard and can be solved optimally by searching the shortest path on the…
Online motion planning is a challenging problem for intelligent robots moving in dense environments with dynamic obstacles, e.g., crowds. In this work, we propose a novel approach for optimal and safe online motion planning with minimal…
We are motivated by the fact that multiple representations of the environment are required to stand for the changes in appearance with time and for changes that appear in a cyclic manner. These changes are, for example, from day to night…
In this paper, we present a method of multi-robot motion planning by biasing centralized, sampling-based tree search with decentralized, data-driven steer and distance heuristics. Over a range of robot and obstacle densities, we evaluate…
Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…
We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…
The significance of transportation efficiency, safety, and related services is increasing in urban vehicular networks. Within such networks, roadside units (RSUs) serve as intermediates in facilitating communication. Therefore, the…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
How can urban movement data be exploited in order to improve the flow of traffic within a city? Movement data provides valuable information about routes and specific roads that people are likely to drive on. This allows us to pinpoint roads…
Real-time dynamic path planning in complex traffic environments presents challenges, such as varying traffic volumes and signal wait times. Traditional static routing algorithms like Dijkstra and A* compute shortest paths but often fail…
A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…
Interactive applications demand believable characters that respond naturally to dynamic environments. Traditional character animation techniques often struggle to handle arbitrary situations, leading to a growing trend of dynamically…
Conventional trajectory planning approaches for autonomous vehicles often assume a fixed vehicle model that remains constant regardless of the vehicle's location. This overlooks the critical fact that the tires and the surface are the two…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…
Autonomous driving systems must operate reliably in safety-critical scenarios, particularly those involving unusual or complex behavior by Vulnerable Road Users (VRUs). Identifying these edge cases in driving datasets is essential for…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…