相关论文: Learning-based Collision-free Planning on Arbitrar…

This document is a thesis on the subject of single-agent on-line path planning in continuous,unpredictable and highly dynamic environments. The problem is finding and traversing a collision-free path for a holonomic robot, without…

Online trajectory planning enables robot manipulators to react quickly to changing environments or tasks. Many robot trajectory planners exist for known environments but are often too slow for online computations. Current methods in online…

We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…

We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…

A promise of Generative Adversarial Networks (GANs) is to provide cheap photorealistic data for training and validating AI models in autonomous driving. Despite their huge success, their performance on complex images featuring multiple…

Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…

Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…

Malware detectors based on machine learning (ML) have been shown to be susceptible to adversarial malware examples. However, current methods to generate adversarial malware examples still have their limits. They either rely on detailed…

Multi-lane roads are typical scenarios in the real-world traffic system. Vehicles usually have preference on lanes according to their routes and destinations. Few of the existing studies looks into the problem of controlling vehicles to…

We develop a novel method for training of GANs for unsupervised and class conditional generation of images, called Linear Discriminant GAN (LD-GAN). The discriminator of an LD-GAN is trained to maximize the linear separability between…

Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

This paper introduces an end-to-end trajectory planning algorithm tailored for multi-UAV systems that generates collision-free trajectories in environments populated with both static and dynamic obstacles, leveraging point cloud data. Our…

As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…

Deep learning has a great potential to alleviate diagnosis and prognosis for various clinical procedures. However, the lack of a sufficient number of medical images is the most common obstacle in conducting image-based analysis using deep…

In the context of generating geological facies conditioned on observed data, samples corresponding to all possible conditions are not generally available in the training set and hence the generation of these realizations depends primary on…

The mobility patterns of people in cities evolve alongside changes in land use and population. This makes it crucial for urban planners to simulate and analyze human mobility patterns for purposes such as transportation optimization and…

The computation of dynamical correlators of quantum many-body systems represents an open critical challenge in condensed matter physics. While powerful methodologies have risen in recent years, covering the full parameter space remains…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

In this paper, we introduce Random Path Generative Adversarial Network (RPGAN) -- an alternative design of GANs that can serve as a tool for generative model analysis. While the latent space of a typical GAN consists of input vectors,…