相关论文: GAN Path Finder: Preliminary results

This paper describes and evaluates the use of Generative Adversarial Networks (GANs) for path planning in support of smart mobility applications such as indoor and outdoor navigation applications, individualized wayfinding for people with…

Sampling-based path planning is a popular methodology for robot path planning. With a uniform sampling strategy to explore the state space, a feasible path can be found without the complex geometric modeling of the configuration space.…

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…

Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…

In this paper, we present a novel path planning algorithm to achieve fast path planning in complex environments. Most existing path planning algorithms are difficult to quickly find a feasible path in complex environments or even fail.…

This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing…

The problem of autonomous indoor mapping is addressed. The goal is to minimize the time to achieve a predefined percentage of exposure with some desired level of certainty. The use of a pre-trained generative deep neural network, acting as…

To achieve autonomous driving without high-definition maps, we present a model capable of generating multiple plausible paths from egocentric images for autonomous vehicles. Our generative model comprises two neural networks: the feature…

In this work, a novel learning-based approach has been developed to generate driving paths by integrating LIDAR point clouds, GPS-IMU information, and Google driving directions. The system is based on a fully convolutional neural network…

In image-based camera localization systems, information about the environment is usually stored in some representation, which can be referred to as a map. Conventionally, most maps are built upon hand-crafted features. Recently, neural…

Generative networks are fundamentally different in their aim and methods compared to CNNs for classification, segmentation, or object detection. They have initially not been meant to be an image analysis tool, but to produce naturally…

Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…

Path planning in complex environments is one of the key problems of artificial intelligence because it requires simultaneous understanding of the geometry of space and the global structure of the problem. In this paper, we explore the…

This paper presents a generative adversarial network (GAN) based approach for radar image enhancement. Although radar sensors remain robust for operations under adverse weather conditions, their application in autonomous vehicles (AVs) is…

Graph Neural Networks (GNNs) are a powerful representational tool for solving problems on graph-structured inputs. In almost all cases so far, however, they have been applied to directly recovering a final solution from raw inputs, without…

Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…

Robot path planning is difficult to solve due to the contradiction between optimality of results and complexity of algorithms, even in 2D environments. To find an optimal path, the algorithm needs to search all the state space, which costs…

Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…

Square grids are commonly used in robotics and game development as spatial models and well known in AI community heuristic search algorithms (such as A*, JPS, Theta* etc.) are widely used for path planning on grids. A lot of research is…