相关论文: Spiral Complete Coverage Path Planning Based on Co…

There has been a surge of interest in learning optimal decision trees using mixed-integer programs (MIP) in recent years, as heuristic-based methods do not guarantee optimality and find it challenging to incorporate constraints that are…

This letter studies pilot design for orthogonal frequency-division multiplexing-based time-division duplex (TDD) systems under a sliding-window latest-slot recovery framework that jointly exploits delay-Doppler sparsity across recent slots.…

The notions of cutwidth and pathwidth of digraphs play a central role in the containment theory for tournaments, or more generally semi-complete digraphs, developed in a recent series of papers by Chudnovsky, Fradkin, Kim, Scott, and…

Computing the envelope of deforming planar domains is a significant and challenging problem with a wide range of potential applications. We approximate the envelope using circular arc splines, curves that balance geometric flexibility and…

LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…

There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…

Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning…

In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…

Accurate and robust whole heart substructure segmentation is crucial in developing clinical applications, such as computer-aided diagnosis and computer-aided surgery. However, segmentation of different heart substructures is challenging…

Planning in hybrid systems with both discrete and continuous control variables is important for dealing with real-world applications such as extra-planetary exploration and multi-vehicle transportation systems. Meanwhile, generating…

Efficient Coverage Path Planning (CPP) is necessary for autonomous robotic lawnmowers to effectively navigate and maintain lawns with diverse and irregular shapes. This paper introduces a comprehensive end-to-end pipeline for CPP, designed…

This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle rich environments. Due to sensing limitations, the proposed method, called CT-CPP, performs layered scanning of the 3D region…

Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues…

Freight consolidation has significant potential to reduce transportation costs and mitigate congestion and pollution. An effective load consolidation plan relies on carefully chosen consolidation points to ensure alignment with existing…

Conformal surface parameterization is useful in graphics, imaging and visualization, with applications to texture mapping, atlas construction, registration, remeshing and so on. With the increasing capability in scanning and storing data,…

This article describes a new approach for distributed 3D SLAM map building. The key contribution of this article is the creation of a distributed graph-SLAM map-building architecture responsive to bandwidth and computational needs of the…

We study the computational complexity of approximately computing the partition function of a spin system. Techniques based on standard counting-to-sampling reductions yield $\tilde{O}(n^2)$-time algorithms, where $n$ is the size of the…

This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…

Free-space multi-agent path planning remains challenging at large scales. Most existing methods either offer optimality guarantees but do not scale beyond a few dozen agents, or rely on grid-world assumptions that do not generalize well to…

Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…