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

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Getting precise aspects of road through segmentation from remote sensing imagery is useful for many real-world applications such as autonomous vehicles, urban development and planning, and achieving sustainable development goals. Roads are…

Deep neural networks (DNNs), while increasingly deployed in many applications, struggle with robustness against anomalous and out-of-distribution (OOD) data. Current OOD benchmarks often oversimplify, focusing on single-object tasks and not…

This paper presents a new approach to obtaining nearly complete coverage paths (CP) with low overlapping on 3D general surfaces using mesh models. The CP is obtained by segmenting the mesh model into a given number of clusters using…

A large spectrum of applications such as location based services and environmental monitoring demand efficient query processing on uncertain databases. In this paper, we propose the probabilistic Voronoi diagram (PVD) for processing moving…

Vision-Language Navigation in Continuous Environments (VLN-CE) requires an embodied agent to navigate towards target in continuous environments, following natural language instructions. While current graph-based methods offer an efficient,…

Accurately predicting road networks from satellite images requires a global understanding of the network topology. We propose to capture such high-level information by introducing a graph-based framework that simulates the addition of…

Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despite this growth, there are no widely adopted computational…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

Deep neural networks for 3D point cloud understanding have achieved remarkable success in object classification and recognition, yet recent work shows that these models remain highly vulnerable to adversarial perturbations. Existing 3D…

In a world abundant with diverse data arising from complex acquisition techniques, there is a growing need for new data analysis methods. In this paper we focus on high-dimensional data that are organized into several hierarchical datasets.…

In order to perform complex actions in human environments, an autonomous robot needs the ability to understand the environment, that is, to gather and maintain spatial knowledge. Topological map is commonly used for representing large…

Learning low-dimensional topological representation of a network in dynamic environments is attracting much attention due to the time-evolving nature of many real-world networks. The main and common objective of Dynamic Network Embedding…

Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…

Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…

Faced with increasing penetration of distributed energy resources and fast development of distribution grid energy management, topology identification of distribution grid becomes an important and fundamental task. As the underlying grid…

Dimensionality reduction algorithms map high-dimensional data into visualizable 2D or 3D spaces, but traditionally rely on a discrete point-cloud paradigm. This discrete abstraction is susceptible to visual occlusion and artificial…

This paper presents a novel paradigm in simulation-based engineering sciences by introducing a new framework called Generative Parametric Design (GPD). The GPD framework enables the generation of new designs along with their corresponding…

Predictive models can be particularly helpful for robots to effectively manipulate terrains in construction sites and extraterrestrial surfaces. However, terrain state representations become extremely high-dimensional especially to capture…

Topological learning is a wide research area aiming at uncovering the mutual spatial relationships between the elements of a set. Some of the most common and oldest approaches involve the use of unsupervised competitive neural networks.…