相关论文: Voronoi-based Multi-Robot Formations for 3D Source…

In this paper we present a new robust sound source localization and tracking method using an array of eight microphones (US patent pending) . The method uses a steered beamformer based on the reliability-weighted phase transform (RWPHAT)…

We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…

Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…

This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…

The Voronoi Covariance Measure of a compact set K of R^d is a tensor-valued measure that encodes geometric information on K and which is known to be resilient to Hausdorff noise but sensitive to outliers. In this article, we generalize this…

We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…

We present VoroUDF, an algorithm for reconstructing high-quality triangle meshes from Unsigned Distance Fields (UDFs). Our algorithm supports non-manifold geometry, sharp features, and open boundaries, without relying on error-prone…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

Understanding the propagation and attenuation patterns of ground vibrations is critical for evaluating the impact of environmental disturbances on large-scale scientific facilities. However, complex site conditions often result in intricate…

We describe a technique for improving the performance of hydrodynamics codes which employ a moving Voronoi mesh. Currently, such codes are susceptible to high-frequency noise produced by rapid adjustments in the grid topology on the…

This paper discusses a cooperative strategy for capturing a target using multiple pursuers in a planar scenario. Given an initial position distribution of pursuers, the Voronoi Diagram is employed to characterize the target's proximity…

We aim to monitor and characterize signals in the subsurface by combining these passive signals with recorded reflection data at the surface of the Earth. To achieve this, we propose a method to create virtual receivers from reflection data…

Sensors are vital for environmental monitoring, yet their effectiveness diminishes under spatial uncertainty. We propose a robust optimization framework for maximizing the coverage of aerial directional sensors under spatial uncertainty.…

We study a fundamental problem in computational chemistry known as molecular conformation generation, trying to predict stable 3D structures from 2D molecular graphs. Existing machine learning approaches usually first predict distances…

We describe a new algorithm for computing the Voronoi diagram of a set of $n$ points in constant-dimensional Euclidean space. The running time of our algorithm is $O(f \log n \log \Delta)$ where $f$ is the output complexity of the Voronoi…

Probing the structure of complex astrophysical objects requires effective three-dimensional (3D) numerical simulation of the relevant radiative transfer (RT) processes. As with any numerical simulation code, the choice of an appropriate…

Purpose: The purpose of this work is to investigate the hypothesis that uniform sampling measurements that are endowed with antipodal symmetry play an important role when the raw data and image data are related through the Fourier…

Visual-inertial odometry (VIO) is a vital technique used in robotics, augmented reality, and autonomous vehicles. It combines visual and inertial measurements to accurately estimate position and orientation. Existing VIO methods assume a…

This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…

This paper introduces a state-machine model for a multi-modal, multi-robot environmental sensing algorithm tailored to dynamic real-world settings. The algorithm uniquely combines two exploration strategies for gas source localization and…