相关论文: Shape-aware Safe Corridors Generation using Voxel …
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…
Voxel-based 3D object classification has been thoroughly studied in recent years. Most previous methods convert the classic 2D convolution into a 3D form that will be further applied to objects with binary voxel representation for…
Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
Generative planners based on flow matching (FM) produce high-quality paths in a single or a few ODE steps, but their sampling dynamics offer no formal safety guarantees and can yield incomplete paths near constraints. We present…
Training vision models to detect workplace hazards accurately requires realistic images of unsafe conditions that could lead to accidents. However, acquiring such datasets is difficult because capturing accident-triggering scenarios as they…
Optimal surface segmentation is a state-of-the-art method used for segmentation of multiple globally optimal surfaces in volumetric datasets. The method is widely used in numerous medical image segmentation applications. However, nodes in…
In this paper, we present a novel workflow consisting of algebraic algorithms and data structures for fast and topologically accurate conversion of vector data models such as Boundary Representations into voxels (topological voxelization);…
Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…
Topology diagrams are widely seen in power system applications, but their automatic generation is often easier said than done. When facing power transmission systems with strongly-meshed structures, existing approaches can hardly produce…
Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and…
Generating safe, kinodynamically feasible, and optimal trajectories for complex robotic systems is a central challenge in robotics. This paper presents Safe Model Predictive Diffusion (Safe MPD), a training-free diffusion planner that…
This paper studies the straight skeleton of polyhedra in three dimensions. We first address voxel-based polyhedra (polycubes), formed as the union of a collection of cubical (axis-aligned) voxels. We analyze the ways in which the skeleton…
Motivated by the requirements for effectiveness and efficiency, path-speed decomposition-based trajectory planning methods have widely been adopted for autonomous driving applications. While a global route can be pre-computed offline,…
We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on…
In autonomous systems, a motion planner generates reference trajectories which are tracked by a low-level controller. For safe operation, the motion planner should account for inevitable controller tracking error when generating avoidance…
Despite significant advancement in technology, communication and computational failures are still prevalent in safety-critical engineering applications. Often, networked control systems experience packet dropouts, leading to open-loop…
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…