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

In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…

Generative methods have recently seen significant improvements by generating in a lower-dimensional latent representation of the data. However, many of the generative methods applied in the latent space remain complex and difficult to…

Maintaining an up-to-date map that accurately reflects recent changes in the environment is crucial, especially for robots that repeatedly traverse the same space. Failing to promptly update the changed regions can degrade map quality,…

Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…

In distributed mobile sensing applications, networks of agents that are heterogeneous respecting both actuation as well as body and sensory footprint are often modelled by recourse to power diagrams --- generalized Voronoi diagrams with…

Graph neural networks (GNNs) have emerged as a powerful tool for graph classification and representation learning. However, GNNs tend to suffer from over-smoothing problems and are vulnerable to graph perturbations. To address these…

The present paper aims at analyzing the topological content of the complex trajectories that weeder-autonomous robots follow in operation. We will prove that the topological descriptors of these trajectories are affected by the robot…

Real-world heterogeneous graphs are inherently noisy and usually not in the optimal graph structures for downstream tasks, which often adversely affects the performance of GRL models in downstream tasks. Although Graph Structure Learning…

Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…

Embodied AI is an inevitable trend that emphasizes the interaction between intelligent entities and the real world, with broad applications in Robotics, especially target-driven navigation. This task requires the robot to find an object of…

Ptychography is a well-studied phase imaging method that makes non-invasive imaging possible at a nanometer scale. It has developed into a mainstream technique with various applications across a range of areas such as material science or…

Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization (TO) methods demonstrate success in…

Geodesic distances on manifolds have numerous applications in image processing, computer graphics and computer vision. In this work, we introduce an approach called `LGGD' (Learned Generalized Geodesic Distances). This method involves…

Graph convolutional networks (GCNs) are widely used in graph-based applications such as graph classification and segmentation. However, current GCNs have limitations on implementation such as network architectures due to their irregular…

We study informative path planning (IPP) with travel budgets in cluttered environments, where an agent collects measurements of a latent field modeled as a Gaussian process (GP) to reduce uncertainty at target locations. Graph-based solvers…

The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…

The complexity and non-Euclidean structure of graph data hinder the development of data augmentation methods similar to those in computer vision. In this paper, we propose a feature augmentation method for graph nodes based on topological…

In this paper, we propose to compute Voronoi diagrams over mesh surfaces driven by an arbitrary geodesic distance solver, assuming that the input is a triangle mesh as well as a collection of sites $P=\{p_i\}_{i=1}^m$ on the surface. We…

Many robotic exploration algorithms rely on graph structures for frontier-based exploration and dynamic path planning. However, these graphs grow rapidly, accumulating redundant information and impacting performance. We present a…

Important advances have been made using convolutional neural network (CNN) approaches to solve complicated problems in areas that rely on grid structured data such as image processing and object classification. Recently, research on graph…