相关论文: La ROUTOURNE va tourner

Realizing delay-capacity in intermittently connected mobile networks remains a largely open question, with state-of-the-art routing schemes typically focusing either on delay or on capacity. We show the feasibility of routing with both high…

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…

Parameter reduction can enable otherwise infeasible design and uncertainty studies with modern computational science models that contain several input parameters. In statistical regression, techniques for sufficient dimension reduction…

Accurate segmentation is crucial for clinical applications, but existing models often assume fixed, high-resolution inputs and degrade significantly when faced with lower-resolution data in real-world scenarios. To address this limitation,…

This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…

Efficiently finding safe and feasible trajectories for mobile objects is a critical field in robotics and computer science. In this paper, we propose SIL-RRT*, a novel learning-based motion planning algorithm that extends the RRT* algorithm…

A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…

Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be very efficient in solving high dimensional problems. Even though…

The Split algorithm is an essential building block of route-first cluster-second heuristics and modern genetic algorithms for vehicle routing problems. The algorithm is used to partition a solution, represented as a giant tour without…

Providing smooth reference trajectories can effectively increase performance and accuracy of tracking control applications while overshoot and unwanted vibrations are reduced. Trajectory planning computations can often be simplified…

Rapidly-exploring random tree (RRT) has been applied for autonomous parking due to quickly solving high-dimensional motion planning and easily reflecting constraints. However, planning time increases by the low probability of extending…

Robust topology optimization (RTO), as a class of topology optimization problems, identifies a design with the best average performance while reducing the response sensitivity to input uncertainties, e.g. load uncertainty. Solving RTO is…

In bus arrival time prediction, the process of organizing road infrastructure network data into homogeneous entities is known as segmentation. Segmenting a road network is widely recognized as the first and most critical step in developing…

The Sinkhorn algorithm is a numerical method for the solution of optimal transport problems. Here, I give a brief survey of this algorithm, with a strong emphasis on its geometric origin: it is natural to view it as a discretization, by…

A good object segmentation should contain clear contours and complete regions. However, mask-based segmentation can not handle contour features well on a coarse prediction grid, thus causing problems of blurry edges. While contour-based…

We study shortest-path routing in large weighted, undirected graphs, where expanding search frontiers raise time and memory costs for exact solvers. We propose \emph{SPHERE}, a query-aware partitioning heuristic that adaptively splits the…

This paper presents an accurate and fast algorithm for road segmentation using convolutional neural network (CNN) and gated recurrent units (GRU). For autonomous vehicles, road segmentation is a fundamental task that can provide the…

In this paper, we introduced a novel approach to computing the fewest-turn map directions or routes based on the concept of natural roads. Natural roads are joined road segments that perceptually constitute good continuity. This approach…

Path planning in high-dimensional spaces poses significant challenges, particularly in achieving both time efficiency and a fair success rate. To address these issues, we introduce a novel path-planning algorithm, Zonal RL-RRT, that…

Internet routing can often be sub-optimal, with the chosen routes providing worse performance than other available policy-compliant routes. This stems from the lack of visibility into route performance at the network layer. While this is an…