相关论文: Extending JSON CRDTs with Move Operations
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications. To exploit sequential simplifications, we present the…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
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…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
Multi-Task Learning (MTL) has shown its importance at user products for fast training, data efficiency, reduced overfitting etc. MTL achieves it by sharing the network parameters and training a network for multiple tasks simultaneously.…
Behavior Trees (BTs) have become a popular framework for designing controllers of autonomous agents in the computer game and in the robotics industry. One of the key advantages of BTs lies in their modularity, where independent modules can…
Recent improvements in positioning technology has led to a much wider availability of massive moving object data. A crucial task is to find the moving objects that travel together. Usually, these object sets are called spatio-temporal…
Commuting operations greatly simplify consistency in distributed systems. This paper focuses on designing for commutativity, a topic neglected previously. We show that the replicas of \emph{any} data type for which concurrent operations…
Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…
We present an algorithm for implementing a store-collect object in an asynchronous crash-prone message-passing dynamic system, where nodes continually enter and leave. The algorithm is very simple and efficient, requiring just one round…
This thesis presents novel algorithms to advance robotic object rearrangement, a critical task for autonomous systems in applications like warehouse automation and household assistance. Addressing challenges of high-dimensional planning,…
Image reconstruction in Multispectral Computed Tomography (MSCT) requires solving a challenging nonlinear inverse problem, commonly tackled via iterative optimization algorithms. Existing methods necessitate computing the derivative of the…
In this paper, we present an implementation of JSON-diff framework JYCM, extending the existing framework by introducing the concept of "unordered" comparisons and allowing users to customize their comparison scenarios flexibly.…
The \emph{Order-Maintenance} (OM) data structure maintains a total order list of items for insertions, deletions, and comparisons. As a basic data structure, OM has many applications, such as maintaining the topological order, core numbers,…
Clustering aims to group unlabeled objects based on similarity inherent among them into clusters. It is important for many tasks such as anomaly detection, database sharding, record linkage, and others. Some clustering methods are taken as…
Coordination services are a fundamental building block of modern cloud systems, providing critical functionalities like configuration management and distributed locking. The major challenge is to achieve low latency and high throughput…
Consistent Recalibration models (CRC) have been introduced to capture in necessary generality the dynamic features of term structures of derivatives' prices. Several approaches have been suggested to tackle this problem, but all of them,…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
Sampling-based motion planning algorithms, like the Rapidly-Exploring Random Tree (RRT) and its widely used variant, RRT-Connect, provide efficient solutions for high-dimensional planning problems faced by real-world robots. However, these…