相关论文: Directional approach to gradual cover: the continu…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
We propose a dynamic data structure for the distribution-sensitive point location problem. Suppose that there is a fixed query distribution in $\mathbb{R}^2$, and we are given an oracle that can return in $O(1)$ time the probability of a…
A simple discontinuous map is proposed as a generic model for nonlinear dynamical systems. The orbit of the map admits exact solutions for wide regions in parameter space and the method employed (digit manipulation) allows the mathematical…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
We consider the classic facility location problem in fully dynamic data streams, where elements can be both inserted and deleted. In this problem, one is interested in maintaining a stable and high quality solution throughout the data…
This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…
Deployment of unmanned aerial vehicles (UAVs) performing as flying aerial base stations (BSs) has a great potential of adaptively serving ground users during temporary events, such as major disasters and massive events. However, planning an…
This work presents a model reduction approach for problems with coherent structures that propagate over time such as convection-dominated flows and wave-type phenomena. Traditional model reduction methods have difficulties with these…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
Traditional conformal prediction methods construct prediction sets such that the true label falls within the set with a user-specified coverage level. However, poorly chosen coverage levels can result in uninformative predictions, either…
We study a continuous-time, infinite-horizon dynamic bipartite matching problem. Suppliers arrive according to a Poisson process; while waiting, they may abandon the queue at a uniform rate. Customers on the other hand must be matched upon…
Point cloud has drawn more and more research attention as well as real-world applications. However, many of these applications (e.g. autonomous driving and robotic manipulation) are actually based on sequential point clouds (i.e. four…
The popular choice of using a $direct$ forecasting scheme implies that the individual predictions do not contain information on cross-horizon dependence. However, this dependence is needed if the forecaster has to construct, based on…
Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…
A decomposition principle for nonlinear dynamic compartmental systems is introduced in the present paper. This theory is based on the mutually exclusive and exhaustive, analytical and dynamic, novel system and subsystem partitioning…
A 1D model is developed for defective gap mode (DGM) with two types of boundary conditions: conducting mesh and conducting sleeve. For a periodically modulated system without defect, the normalized width of spectral gaps equals to the…
This paper proposes Partially Observable Reference Policy Programming, a novel anytime online approximate POMDP solver which samples meaningful future histories very deeply while simultaneously forcing a gradual policy update. We provide…
Dislocation climb plays an important role in understanding plastic deformation of metallic materials at high temperature. In this paper, we present a continuum formulation for dislocation climb velocity based on densities of dislocations.…
Delaunay Triangulation(DT) is one of the important geometric problems that is used in various branches of knowledge such as computer vision, terrain modeling, spatial clustering and networking. Kinetic data structures have become very…
We present the Overlapping Domain Cover (ODC) notion for kernel machines, as a set of overlapping subsets of the data that covers the entire training set and optimized to be spatially cohesive as possible. We show how this notion benefit…