相关论文: Experiments on route choice set generation using a…

In this paper, we extend a famous motion planning approach GPMP2 to multi-robot cases, yielding a novel centralized trajectory generation method for the multi-robot formation. A sparse Gaussian Process model is employed to represent the…

Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…

Global Route-Planning Algorithms (GRPA) are required to compute paths between several points located on Earth's surface. A geodesic algorithm is employed as an auxiliary tool, increasing the precision of distance calculations. This work…

Accurately predicting road networks from satellite images requires a global understanding of the network topology. We propose to capture such high-level information by introducing a graph-based framework that simulates the addition of…

Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…

We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off-road features like grass, buildings, bushes, etc. Given a…

In this article, we address aquatic environmental monitoring using a fleet of unmanned surface vehicles (USVs). Specifically, we develop an online path generator that provides either circular or elliptic paths based on the real-time…

Due to urbanization and the increase of individual mobility, in most metropolitan areas around the world congestion and inefficient traffic management occur. Highly necessary intelligent traffic control systems, which are able to reduce…

Trajectory prediction (TP) is of great importance for a wide range of location-based applications in intelligent transport systems such as location-based advertising, route planning, traffic management, and early warning systems. In the…

We introduce and show preliminary results of a fast randomized method that finds a set of K paths lying in distinct homotopy classes. We frame the path planning task as a graph search problem, where the navigation graph is based on a…

The rapid urbanization and increasing traffic have serious social, economic, and environmental impact on metropolitan areas worldwide. It is of a great importance to understand the complex interplay of road networks and traffic conditions.…

Distributed consensus has been intensively studied in recent years as a means to mitigate state differences among dynamic nodes on a graph. It has been successfully employed in various applications, e.g., formation control of multi-robots,…

A "path-based sensor" produces a single observation along a continuous path. For example, a boolean path-based sensor returns a single "1" if an event of interest is detected at any point along the path and a "0" otherwise. Notably, a "1"…

We present an analytical approach to calculating the distribution of shortest paths lengths (also called intervertex distances, or geodesic paths) between nodes in unweighted undirected networks. We obtain very accurate results for…

This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…

Link prediction is one of the fundamental problems in network analysis. In many applications, notably in genetics, a partially observed network may not contain any negative examples of absent edges, which creates a difficulty for many…

Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…

We consider the task of topology discovery of sparse random graphs using end-to-end random measurements (e.g., delay) between a subset of nodes, referred to as the participants. The rest of the nodes are hidden, and do not provide any…

We present an analysis of the topologies of a class of networks which are optimal in terms of the requirements of having as short a route as possible between any two nodes while yet keeping the congestion in the network as low as possible.…

It is desirable to predict the behavior of traffic participants conditioned on different planned trajectories of the autonomous vehicle. This allows the downstream planner to estimate the impact of its decisions. Recent approaches for…