相关论文: Computationally-Efficient Roadmap-based Inspection…

The aging and increasing complexity of infrastructures make efficient inspection planning more critical in ensuring safety. Thanks to sampling-based motion planning, many inspection planners are fast. However, they often require huge…

In an environment where a manipulator needs to execute multiple consecutive tasks, the act of object manoeuvre will change the underlying configuration space, affecting all subsequent tasks. Previously free configurations might now be…

We develop theoretical foundations and practical algorithms for vehicle routing with time-dependent travel times. We also provide new benchmark instances and experimental results. First, we study basic operations on piecewise linear arrival…

As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…

Reliable navigation in disaster-response and other unstructured indoor settings requires robots not only to avoid obstacles but also to recognise when those obstacles can be pushed aside. We present an adaptive, LiDAR and odometry-based…

We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…

We consider efficient route planning for robots in applications such as infrastructure inspection and automated surgical imaging. These tasks can be modeled via the combinatorial problem Graph Inspection. The best known algorithms for this…

Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…

With the impact of real-time processing being realized in the recent past, the need for efficient implementations of reinforcement learning algorithms has been on the rise. Albeit the numerous advantages of Bellman equations utilized in RL…

Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…

Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…

Maximum Inner Product Search (MIPS) is an important task in many machine learning applications such as the prediction phase of a low-rank matrix factorization model for a recommender system. There have been some works on how to perform MIPS…

The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…

Optimal path planning requires finding a series of feasible states from the starting point to the goal to optimize objectives. Popular path planning algorithms, such as Effort Informed Trees (EIT*), employ effort heuristics to guide the…

Combinatorial Optimization underpins many real-world applications and yet, designing performant algorithms to solve these complex, typically NP-hard, problems remains a significant research challenge. Reinforcement Learning (RL) provides a…

Adaptively Informed Trees (AIT*) is an algorithm that uses the problem-specific heuristic to avoid unnecessary searches, which significantly improves its performance, especially when collision checking is expensive. However, the heuristic…

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…

The Generalized Independent Set (GIS) problem extends the classical maximum independent set problem by incorporating profits for vertices and penalties for edges. This generalized problem has been identified in diverse applications in…

The intelligent reflecting surface (IRS) technology has recently attracted a lot of interest in wireless communications research. An IRS consists of passive reflective elements capable of tuning the phase, amplitude, frequency and…

In this paper, we address the problem of scheduling a set of robots to complete tasks in a laboratory environment, modelled as a graph, while avoiding collisions. We analyze the dynamic programming algorithm (PA) introduced in…