相关论文: GVD-TG: Topological Graph based on Fast Hierarchic…

Communication networks form the backbone of our society. Topology control algorithms optimize the topology of such communication networks. Due to the importance of communication networks, a topology control algorithm should guarantee…

In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently,…

Data clustering with uneven distribution in high level noise is challenging. Currently, HDBSCAN is considered as the SOTA algorithm for this problem. In this paper, we propose a novel clustering algorithm based on what we call graph of…

Recently, the pretrain-finetuning paradigm has attracted tons of attention in graph learning community due to its power of alleviating the lack of labels problem in many real-world applications. Current studies use existing techniques, such…

Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on…

For many important network types (e.g., sensor networks in complex harsh environments and social networks) physical coordinate systems (e.g., Cartesian), and physical distances (e.g., Euclidean), are either difficult to discern or…

Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…

Graph classification is an important learning task for graph-structured data. Graph neural networks (GNNs) have recently gained growing attention in graph learning and have shown significant improvements in many important graph problems.…

For domains that involve numerical simulation, it can be computationally expensive to run an ensemble of simulations spanning a parameter space of interest to a user. To this end, an attractive surrogate for simulation is the generative…

We develop a general framework unifying several gradient-based stochastic optimization methods for empirical risk minimization problems both in centralized and distributed scenarios. The framework hinges on the introduction of an augmented…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…

Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores…

Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem, a feature-based hierarchical topological map (FHT-Map) is…

Micro-Aerial Vehicles (MAVs) have the advantage of moving freely in 3D space. However, creating compact and sparse map representations that can be efficiently used for planning for such robots is still an open problem. In this paper, we…

The majority of current approaches in autonomous driving rely on High-Definition (HD) maps which detail the road geometry and surrounding area. Yet, this reliance is one of the obstacles to mass deployment of autonomous vehicles due to poor…

Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…

In recent years, Graph Neural Networks (GNNs) have shown superior performance on diverse real-world applications. To improve the model capacity, besides designing aggregation operations, GNN topology design is also very important. In…

Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…

Voronoi treemaps are used to depict nodes and their hierarchical relationships simultaneously. However, in addition to the hierarchical structure, data attributes, such as co-occurring features or similarities, frequently exist. Examples…

Topological features based on persistent homology capture high-order structural information so as to augment graph neural network methods. However, computing extended persistent homology summaries remains slow for large and dense graphs and…