相关论文: BMP: Bridging the Gap between B-Spline and Movemen…

Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…

Continuous-time trajectory representation has recently gained popularity for tasks where the fusion of high-frame-rate sensors and multiple unsynchronized devices is required. Lie group cumulative B-splines are a popular way of representing…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

The aging and increasing complexity of infrastructures make efficient inspection planning more critical in ensuring safety. Thanks to sampling-based motion planning, many inspection planners are fast. However, they often require huge…

A new efficient orthogonalization of the B-spline basis is proposed and contrasted with some previous orthogonalized methods. The resulting orthogonal basis of splines is best visualized as a net of functions rather than a sequence of them.…

We present RoboArm-NMP, a learning and evaluation environment that allows simple and thorough evaluations of Neural Motion Planning (NMP) algorithms, focused on robotic manipulators. Our Python-based environment provides baseline…

This paper demonstrates how an efficient representation of the planned path using B-splines, and a construction procedure that takes advantage of the neural network's inductive bias, speed up both the inference and training of a DNN-based…

When training large machine learning models with many variables or parameters, a single machine is often inadequate since the model may be too large to fit in memory, while training can take a long time even with stochastic updates. A…

We present Model Predictive Planning (MPP), a trajectory planner for low-agility vehicles such as a fixed-wing aircraft to navigate obstacle-laden environments. MPP consists of (1) a multi-path planning procedure that identifies candidate…

Many robot tasks require attending to the history of past observations. For example, finding an item in a room requires remembering which places have already been searched. However, the best-performing robot policies typically condition…

Vision-language models (VLMs) have exhibited remarkable generalization capabilities, and prompt learning for VLMs has attracted great attention for the ability to adapt pre-trained VLMs to specific downstream tasks. However, existing…

We derive sufficient conditions for sampling with derivatives in shift-invariant spaces generated by a periodic exponential B-spline. The sufficient conditions are expressed with a new notion of measuring the gap between consecutive…

Motion capture from a monocular video is fundamental and crucial for us humans to naturally experience and interact with each other in Virtual Reality (VR) and Augmented Reality (AR). However, existing methods still struggle with…

Non-uniform B-spline dictionaries on a compact interval are discussed. For each given partition, dictionaries of B-spline functions for the corresponding spline space are constructed. It is asserted that, by dividing the given partition…

With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…

Simultaneous Localization and Mapping (SLAM) plays a crucial role in enabling autonomous vehicles to navigate previously unknown environments. Semantic SLAM mostly extends visual SLAM, leveraging the higher density information available to…

Max-pressure (MP) is a decentralized adaptive traffic signal control approach that has been shown to maximize throughput for private vehicles. However, MP-based signal control algorithms do not differentiate the movement of transit vehicles…

This work proposes a motion planning algorithm for robotic manipulators that combines sampling-based and search-based planning methods. The core contribution of the proposed approach is the usage of burs of free configuration space…

Model Predictive Path Integral (MPPI) control has recently emerged as a fast, gradient-free alternative to model-predictive control in highly non-linear robotic tasks, yet it offers no hard guarantees on constraint satisfaction. We…

Multi-degree splines are piecewise polynomial functions having sections of different degrees. They offer significant advantages over the classical uniform-degree framework, as they allow for modeling complex geometries with fewer degrees of…