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

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

Reconfigurable intelligent surfaces (RISs) have attracted increasing interest due to their ability to improve the coverage, reliability, and energy efficiency of millimeter wave (mmWave) communication systems. However, designing the RIS…

An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…

This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…

Road infrastructure maintenance inspection is typically a labour-intensive and critical task to ensure the safety of all the road users. In this work, we propose a detailed methodology to use state-of-the-art techniques in artificial…

This report overviews a set of recent contributions in the field of path planning that were developed to enable the realization of the autonomous aerial robotic worker for inspection operations. The specific algorithmic contributions…

During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…

Conventional computing architectures have no known efficient algorithms for combinatorial optimization tasks, which are encountered in fundamental areas and real-world practical problems including logistics, social networks, and…

The inventory routing problem (IRP) focuses on jointly optimizing inventory and distribution operations from a supplier to retailers over multiple days. Compared to other problems from the vehicle routing family, the interrelations between…

The effectiveness of collision-free trajectory planners depends on the quality and diversity of training data, especially for rare scenarios. A widely used approach to improve dataset diversity involves generating realistic synthetic…

Reconfigurable intelligent surface (RIS) is a two-dimensional periodic structure integrated with a large number of reflective elements, which can manipulate electromagnetic waves in a digital way, offering great potentials for wireless…

In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…

Curriculum learning helps language models tackle complex reasoning by gradually increasing task difficulty. However, it often fails to generate consistent step-by-step reasoning, especially in multilingual and low-resource settings where…

Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…

Robotic camera systems enable dynamic, repeatable motion beyond human capabilities, yet their adoption remains limited by the high cost and operational complexity of industrial-grade platforms. We present the Intelligent Robotic Imaging…

In this work, we introduce a new graph search algorithm, lazy edged based A* (LEA*), for robot motion planning. By using an edge queue and exploiting the idea of lazy search, LEA* is optimally vertex efficient similar to A*, and has…

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…

The technology of reconfigurable intelligent surfaces (RIS) has been showing promising potential in a variety of applications relying on Beyond-5G networks. Reconfigurable intelligent surface (RIS) can indeed provide fine channel…