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

In autonomous robot exploration, the frontier is the border in the world map between the explored space and unexplored space. The frontier plays an important role when deciding where in the environment the robots should go explore next. We…

Game-theoretic algorithms are commonly benchmarked on recreational games, classical constructs from economic theory such as congestion and dispersion games, or entirely random game instances. While the past two decades have seen the rise of…

This paper presents a novel framework for planning in unknown and occluded urban spaces. We specifically focus on turns and intersections where occlusions significantly impact navigability. Our approach uses an inpainting model to fill in a…

Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores…

Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…

A detailed environment representation is a crucial component of automated vehicles. Using single range sensor scans, data is often too sparse and subject to occlusions. Therefore, we present a method to augment occupancy grid maps from…

This paper addresses the movement and placement of mobile agents to establish a communication network in initially unknown environments. We cast the problem in a computational-geometric framework by relating the coverage problem and…

Game-theoretic agents must make plans that optimally gather information about their opponents. These problems are modeled by partially observable stochastic games (POSGs), but planning in fully continuous POSGs is intractable without heavy…

We propose a game theoretic approach to address the problem of searching for available parking spots in a parking lot and picking the ``optimal'' one to park. The approach exploits limited information provided by the parking lot, i.e., its…

Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…

In recent years, there has been a growing interest in games on graphs within the research community, fueled by their relevance in applications such as economics, politics, and epidemiology. This paper aims to comprehensively detail the…

Task scheduling is an important and complex problem in computational grid. A computational grid often covers a range of different kinds of nodes, which offers a complex environment. There is a need to develop algorithms that can capture…

In this letter, we introduce several algorithms for geometry inpainting of 3D point clouds with large holes. The algorithms are examplar-based: hole filling is performed iteratively using templates near the hole boundary to find the best…

We address a problem of area protection in graph-based scenarios with multiple agents. The problem consists of two adversarial teams of agents that move in an undirected graph shared by both teams. Agents are placed in vertices of the…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…

Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that,…

Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…

We introduce a simplified model for platform game levels with falling platforms based on interval graphs and show that solvability of such levels corresponds to finding Steiner cycles or Steiner paths in the corresponding graphs. Linear…

This paper describes a simple greedy D-approximation algorithm for any covering problem whose objective function is submodular and non-decreasing, and whose feasible region can be expressed as the intersection of arbitrary (closed upwards)…