相关论文: cpRRTC: GPU-Parallel RRT-Connect for Constrained M…

We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…

There is a growing interest in leveraging GPUs for tasks beyond ML, especially in database systems. Despite the existing extensive work on GPU-based database operators, several questions are still open. For instance, the performance of…

Real-time large-scale crowd simulations with realistic behavior, are important for many application areas. On CPUs, the ORCA pedestrian steering model is often used for agent-based pedestrian simulations. This paper introduces a technique…

Gaussian Process Motion Planning (GPMP) is a widely used framework for generating smooth trajectories within a limited compute time--an essential requirement in many robotic applications. However, traditional GPMP approaches often struggle…

Modeling data sharing in GPU programs is a challenging task because of the massive parallelism and complex data sharing patterns provided by GPU architectures. Better GPU caching efficiency can be achieved through careful task scheduling…

Batch planning is increasingly necessary to quickly produce diverse and quality motion plans for downstream learning applications, such as distillation and imitation learning. This paper presents Global Tensor Motion Planning (GTMP) -- a…

Most Deep Reinforcement Learning (Deep RL) algorithms require a prohibitively large number of training samples for learning complex tasks. Many recent works on speeding up Deep RL have focused on distributed training and simulation. While…

The increasing scale and complexity of integrated circuit design have led to increased challenges in Electronic Design Automation (EDA). Graph Neural Networks (GNNs) have emerged as a promising approach to assist EDA design as circuits can…

Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of all of the robots in the space. The dimensionality of this…

Path planning plays a crucial role in various autonomy applications, and RRT* is one of the leading solutions in this field. In this paper, we propose the utilization of vertex-based networks to enhance the sampling process of RRT*, leading…

MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…

We present the GPU implementation of the general-purpose interior-point solver Clarabel for convex optimization problems with conic constraints. We introduce a mixed parallel computing strategy that processes linear constraints first, then…

This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…

We present LQR-CBF-RRT*, an incremental sampling-based algorithm for offline motion planning. Our framework leverages the strength of Control Barrier Functions (CBFs) and Linear Quadratic Regulators (LQR) to generate safety-critical and…

Neural network (NN)-based methods have emerged as an attractive approach for robot motion planning due to strong learning capabilities of NN models and their inherently high parallelism. Despite the current development in this direction,…

This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…

Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better motion planning. The method is built upon the basis of the…

In this paper, we explore the limits of graphics processors (GPUs) for general purpose parallel computing by studying problems that require highly irregular data access patterns: parallel graph algorithms for list ranking and connected…

This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…

Processing moving object trajectories arises in many application domains and has been addressed by practitioners in the spatiotemporal database and Geographical Information System communities. In this work, we focus on a trajectory…