相关论文: NTFields: Neural Time Fields for Physics-Informed …

The success of intelligent robotic missions relies on integrating various research tasks, each demanding distinct representations. Designing task-specific representations for each task is costly and impractical. Unified representations…

Discrete-time fractional-order dynamical systems (DT-FODS) have found innumerable applications in the context of modeling spatiotemporal behaviors associated with long-term memory. Applications include neurophysiological signals such as…

To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

This paper demonstrates the ability of the harmonic potential field, HPF, planning method to generate a well-behaved constrained path for a robot with second order dynamics in a cluttered environment. It is shown that HPF-based controllers…

This work introduces Neural Elevations Models (NEMos), which adapt Neural Radiance Fields to a 2.5D continuous and differentiable terrain model. In contrast to traditional terrain representations such as digital elevation models, NEMos can…

In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…

Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…

This paper addresses the challenge of Neural Field (NeF) generalization, where models must efficiently adapt to new signals given only a few observations. To tackle this, we propose Geometric Neural Process Fields (G-NPF), a probabilistic…

Low-cost distributed robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This paper presents Edge Accelerated Robot Navigation (EARN), to achieve real-time…

Time-dependent partial differential equations (PDEs) often develop sharp fronts, localized peaks, and other moving structures that occupy only a small portion of the space--time domain but dominate the approximation error. This makes fixed…

This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to…

Planning in environments with moving obstacles remains a significant challenge in robotics. While many works focus on navigation and path planning in obstacle-dense spaces, traversing such congested regions is often avoidable by selecting…

This work proposes an optimization-based manipulation planning framework where the objectives are learned functionals of signed-distance fields that represent objects in the scene. Most manipulation planning approaches rely on analytical…

In recent years, the integration of prediction and planning through neural networks has received substantial attention. Despite extensive studies on it, there is a noticeable gap in understanding the operation of such models within a…

Autonomous navigation of mobile robots is a well studied problem in robotics. However, the navigation task becomes challenging when multi-robot systems have to cooperatively navigate dynamic environments with deadlock-prone layouts. We…

Numerical solution of partial differential equations (PDEs) plays a vital role in various fields of science and engineering. In recent years, deep neural networks (DNNs) have emerged as a powerful tool for solving PDEs, leveraging their…

Physics-Informed Neural Networks (PINNs) have recently emerged as a promising alternative for solving partial differential equations, offering a mesh-free framework that incorporates physical laws directly into the learning process. In this…

Motion planning and obstacle avoidance is a key challenge in robotics applications. While previous work succeeds to provide excellent solutions for known environments, sensor-based motion planning in new and dynamic environments remains…