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

We introduce pattern injection local search (PILS), an optimization strategy that uses pattern mining to explore high-order local-search neighborhoods, and illustrate its application on the vehicle routing problem. PILS operates by storing…

We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…

As the complexity of modern workloads and hardware increasingly outpaces human research and engineering capacity, existing methods for database performance optimization struggle to keep pace. To address this gap, a new class of techniques,…

This paper develops \emph{iterative Covariance Regulation} (iCR), a novel method for active exploration and mapping for a mobile robot equipped with on-board sensors. The problem is posed as optimal control over the $SE(3)$ pose kinematics…

Humans process visual information with varying resolution (foveated visual system) and explore images by orienting through eye movements the high-resolution fovea to points of interest. The Bayesian ideal searcher (IS) that employs complete…

A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…

This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems. The approach is motivated by first showing that a lattice-based path planner can be…

Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…

In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…

Mixed-Integer Linear Programs (MIPs) are powerful and flexible tools for modeling a wide range of real-world combinatorial optimization problems. Predict-and-Search methods operate by using a predictive model to estimate promising variable…

Autonomous robots for gathering information on objects of interest has numerous real-world applications because of they improve efficiency, performance and safety. Realizing autonomy demands online planning algorithms to solve sequential…

As a key ingredient of the DBMS, index plays an important role in the query optimization and processing. However, it is a non-trivial task to apply existing indexes or design new indexes for new applications, where both data distribution…

Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…

The existing machine learning algorithms for minimizing the convex function over a closed convex set suffer from slow convergence because their learning rates must be determined before running them. This paper proposes two machine learning…

Many optimization algorithms converge to stationary points. When the underlying problem is nonconvex, they may get trapped at local minimizers and occasionally stagnate near saddle points. We propose the Run-and-Inspect Method, which adds…

In this paper, the problem of robust reconfigurable intelligent surface (RIS) system design under changes in data distributions is investigated. Using the notion of invariant risk minimization (IRM), an invariant causal representation…

The ever-growing popularity and rapid improving of artificial intelligence (AI) have raised rethinking on the evolution of wireless networks. Mobile edge computing (MEC) provides a natural platform for AI applications since it provides rich…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced to navigation tasks, where the objective is to reach a…