相关论文: SwarmCVT: Centroidal Voronoi Tessellation-Based Pa…
Optimized spatial partitioning algorithms are the corner stone of many successful experimental designs and statistical methods. Of these algorithms, the Centroidal Voronoi Tessellation (CVT) is the most widely utilized. CVT based methods…
Large-scale swarm robotic systems consisting of numerous cooperative agents show considerable promise for performing autonomous tasks across various sectors. Nonetheless, traditional motion planning approaches often face a trade-off between…
Centroidal Voronoi tessellation (CVT)-based mesh generation is a very effective technique for creating high-quality Voronoi meshes and their dual Delaunay triangulations that often play a crucial role in applications, including ocean and…
Nowadays, big data of digital media (including images, videos and 3D graphical models) are frequently modeled as low-dimensional manifold meshes embedded in a high-dimensional feature space. In this paper, we summarized our recent work on…
This paper addresses the path-planning challenge for very large-scale robotic systems (VLSR) operating in complex and cluttered environments. VLSR systems consist of numerous cooperative agents or robots working together autonomously.…
In this paper, we extend a famous motion planning approach GPMP2 to multi-robot cases, yielding a novel centralized trajectory generation method for the multi-robot formation. A sparse Gaussian Process model is employed to represent the…
Volumetric shape representations have become ubiquitous in multi-view reconstruction tasks. They often build on regular voxel grids as discrete representations of 3D shape functions, such as SDF or radiance fields, either as the full shape…
In this work, a cut high-dimensional model representation (cut-HDMR) expansion based on multiple anchors is constructed via the clustering method. Specifically, a set of random input realizations is drawn from the parameter space and…
Accurate taxi demand-supply forecasting is a challenging application of ITS (Intelligent Transportation Systems), due to the complex spatial and temporal patterns. We investigate the impact of different spatial partitioning techniques on…
We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…
Gaussian mixture model is very useful in many practical problems. Nevertheless, it cannot be directly generalized to non Euclidean spaces. To overcome this problem we present a spherical Gaussian-based clustering approach for partitioning…
Spatial statistical analysis of multivariate volumetric data can be challenging due to scale, complexity, and occlusion. Advances in topological segmentation, feature extraction, and statistical summarization have helped overcome the…
Gaussian and discrete non-Gaussian spatial datasets are common across fields like public health, ecology, geosciences, and social sciences. Bayesian spatial generalized linear mixed models (SGLMMs) are a flexible class of models for…
Realizing green communication in robotic mixed reality (RoboMR) systems presents a challenge, due to the necessity of uploading high-resolution images at high frequencies through wireless channels. This paper proposes Gaussian splatting…
Achieving accurate and robust global situational awareness of a complex time-evolving field from a limited number of sensors has been a longstanding challenge. This reconstruction problem is especially difficult when sensors are sparsely…
Rapidly-exploring Random Trees (RRTs) are a popular technique for autonomous exploration of mobile robots. However, the random sampling used by RRTs can result in inefficient and inaccurate frontiers extraction, which affects the…
We extend the Geometric Refinement Transform (GRT) by introducing centroidal Voronoi tessellations (CVTs) into the refinement process, enhancing symmetry, reconstruction accuracy, and numerical stability. By applying Lloyds algorithm at…
Multi-robot systems require scalable and federated methods to model complex environments under computational and communication constraints. Gaussian Processes (GPs) offer robust probabilistic modeling, but suffer from cubic computational…
Centroidal Voronoi tessellations (CVTs) are Voronoi tessellations of a region such that the generating points of the tessellations are also the centroids of the corresponding Voronoi regions with respect to a given probability measure. CVT…
Swarm robot systems, which consist of many cooperating mobile robots, have attracted attention for their environmental adaptability and fault tolerance advantages. One of the most important tasks for such systems is coverage control, in…