相关论文: Offline Grid-Based Coverage path planning for guar…

We study the problems of covering or partitioning a polygon $P$ (possibly with holes) using a minimum number of small pieces, where a small piece is a connected sub-polygon contained in an axis-aligned unit square. For covering, we seek to…

Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…

We study offline Reinforcement Learning in large infinite-horizon discounted Markov Decision Processes (MDPs) when the reward and transition models are linearly realizable under a known feature map. Starting from the classic linear-program…

Visually sorted grid layouts provide an efficient method for organizing high-dimensional vectors in two-dimensional space by aligning spatial proximity with similarity relationships. This approach facilitates the effective sorting of…

Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…

In this paper, we tackle the challenge of predicting the unseen walls of a partially observed environment as a set of 2D line segments, conditioned on occupancy grids integrated along the trajectory of a 360{\deg} LIDAR sensor. A dataset of…

In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…

Real-time depth of field in game cinematics tends to approximate the semi-transparent silhouettes of out-of-focus objects through post-processing techniques. We leverage ray tracing hardware acceleration and spatio-temporal reconstruction…

We introduce a new abstract graph game, Swap Planarity, where the goal is to reach a state without edge intersections and a move consists of swapping the locations of two vertices connected by an edge. We analyze this puzzle game using…

A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…

This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…

Off-road navigation is a challenging problem both at the planning level to get a smooth trajectory and at the control level to avoid flipping over, hitting obstacles, or getting stuck at a rough patch. There have been several recent works…

Solutions to pursuit-evasion and surveillance-evasion differential games are typically computed and expressed using open-loop representations, with the synthesis of feedback strategies significantly less common. We propose a numerical…

The task of vision-based 3D occupancy prediction aims to reconstruct 3D geometry and estimate its semantic classes from 2D color images, where the 2D-to-3D view transformation is an indispensable step. Most previous methods conduct forward…

Game maps are useful for human players, general-game-playing agents, and data-driven procedural content generation. These maps are generally made by hand-assembling manually-created screenshots of game levels. Besides being tedious and…

Pursuit-evasion scenarios appear widely in robotics, security domains, and many other real-world situations. We focus on two-player pursuit-evasion games with concurrent moves, infinite horizon, and discounted rewards. We assume that the…

This paper proposes a perception and path planning pipeline for autonomous racing in an unknown bounded course. The pipeline was initially created for the 2021 evGrandPrix autonomous division and was further improved for the 2022 event,…

Security games model strategic interactions in adversarial real-world applications. Such applications often involve extremely large but highly structured strategy sets (e.g., selecting a distribution over all patrol routes in a given…

We study the approximate core for edge cover games, which are cooperative games stemming from edge cover problems. In these games, each player controls a vertex on a network $G = (V, E; w)$, and the cost of a coalition $S\subseteq V$ is…

Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…