相关论文: DAA*: Deep Angular A Star for Image-based Path Pla…

Domain adaptation (DA) strives to mitigate the domain gap between the source domain where a model is trained, and the target domain where the model is deployed. When a deep learning model is deployed on an aerial platform, it may face…

Multi-Agent Path-Finding (MAPF) focuses on the collaborative planning of paths for multiple agents within shared spaces, aiming for collision-free navigation. Conventional planning methods often overlook the presence of other agents, which…

For rapid growth in technology and automation, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usages of these robots is in the industrial…

In this paper, we explore a novel image matting task aimed at achieving efficient inference under various computational cost constraints, specifically FLOP limitations, using a single matting network. Existing matting methods which have not…

The traditional Artificial Potential Field (APF) method exhibits limitations in its force distribution: excessive attraction when UAVs are far from the target may cause collisions with obstacles, while insufficient attraction near the goal…

Autonomous path planning requires a synergy between global reasoning and geometric precision, especially in complex or cluttered environments. While classical A* is valued for its optimality, it incurs prohibitive computational and memory…

This paper addresses the challenges of real-time, large-scale, and near-optimal multi-agent pathfinding (MAPF) through enhancements to the recently proposed LaCAM* algorithm. LaCAM* is a scalable search-based algorithm that guarantees the…

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…

Lidar SLAM plays a significant role in mobile robot navigation and high-definition map construction. However, existing methods often face a trade-off between localization accuracy and system robustness in scenarios with a high proportion of…

We propose the Multi-Head Density Adaptive Attention Mechanism (DAAM), a novel probabilistic attention framework that can be used for Parameter-Efficient Fine-tuning (PEFT), and the Density Adaptive Transformer (DAT), designed to enhance…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

Recent advancements in Deep Learning (DL) for Direction of Arrival (DOA) estimation have highlighted its superiority over traditional methods, offering faster inference, enhanced super-resolution, and robust performance in low…

We address the problem of finding the shortest path between two points in an unknown real physical environment, where a traveling agent must move around in the environment to explore unknown territory. We introduce the Physical-A* algorithm…

In the age of real-time online traffic information and GPS-enabled devices, fastest-path computations between two points in a road network modeled as a directed graph, where each directed edge is weighted by a "travel time" value, are…

A* is a popular path-finding algorithm, but it can only be applied to those domains where a good heuristic function is known. Inspired by recent methods combining Deep Neural Networks (DNNs) and trees, this study demonstrates how to train a…

The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…

Data augmentation (DA) techniques aim to increase data variability, and thus train deep networks with better generalisation. The pioneering AutoAugment automated the search for optimal DA policies with reinforcement learning. However,…

Motion-planning problems, such as manipulation in cluttered environments, often require a collision-free shortest path to be computed quickly given a roadmap graph. Typically, the computational cost of evaluating whether an edge of the…

Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…

The forecasting skill of numerical weather prediction (NWP) models critically depends on the accurate initial conditions, also known as analysis, provided by data assimilation (DA). Traditional DA methods often face a trade-off between…