相关论文: MLATC: Fast Hierarchical Topological Mapping from …

Clustering in stationary and nonstationary settings, where data distributions remain static or evolve over time, requires models that can adapt to distributional shifts while preserving previously learned cluster structures. This paper…

In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for multi-robot coordination in real-world environments with significant inter-robot spatial and temporal…

Adaptive Resonance Theory (ART) is considered as an effective approach for realizing continual learning thanks to its ability to handle the plasticity-stability dilemma. In general, however, the clustering performance of ART-based…

Multi-Agent Task Assignment and Planning (MATP) has attracted growing attention but remains challenging in terms of scalability, spatial reasoning, and adaptability in obstacle-rich environments. To address these challenges, we propose OATH…

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…

Conventional algorithms in autonomous exploration face challenges due to their inability to accurately and efficiently identify the spatial distribution of convex regions in the real-time map. These methods often prioritize navigation…

Graph neural networks (GNNs) excel on homophilic graphs where connected nodes share labels, but struggle with heterophilic graphs where edges do not imply similarity. Moreover, iterative message passing limits scalability due to…

Given a graph $G$ and a seed node $v_s$, the objective of local graph clustering (LGC) is to identify a subgraph $C_s \in G$ (a.k.a. local cluster) surrounding $v_s$ in time roughly linear with the size of $C_s$. This approach yields…

Three-dimensional data have become increasingly present in earth observation over the last decades. However, many 3D surveys are still underexploited due to the lack of accessible and explainable automatic classification methods, for…

The largest strength of contention-based MAC protocols is simultaneously the largest weakness of their scheduled counterparts: the ability to adapt to changes in network conditions. For scheduling to be competitive in mobile wireless…

Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites.…

The integration of large language models (LLMs) with external tools has significantly expanded the capabilities of AI agents. However, as the diversity of both LLMs and tools increases, selecting the optimal model-tool combination becomes a…

This paper is concerned with the distributed composite optimization problem over networks, where agents aim to minimize a sum of local smooth components and a common nonsmooth term. Leveraging the probabilistic local updates mechanism, we…

We propose a robust and efficient framework to generate global trajectories for ground robots in complex 3D environments. The proposed method takes point cloud as input and efficiently constructs a multi-level map using triangular patches…

Urban search and rescue missions require rapid first response to minimize loss of life and damage. Often, such efforts are assisted by humanitarian robots which need to handle dynamic operational conditions such as uneven and rough…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

We study how to design learning-based adaptive controllers that enable fast and accurate online adaptation in changing environments. In these settings, learning is typically done during an initial (offline) design phase, where the vehicle…

Test-Time Compute (TTC) has emerged as a powerful paradigm for enhancing the performance of Large Language Models (LLMs) at inference, leveraging strategies such as Test-Time Training (TTT) and Retrieval-Augmented Generation (RAG). However,…

We present Agglomerative Token Clustering (ATC), a novel token merging method that consistently outperforms previous token merging and pruning methods across image classification, image synthesis, and object detection & segmentation tasks.…

Distributed trajectory optimization via ADMM-DDP is a powerful approach for coordinating multi-agent systems, but it requires extensive tuning of tightly coupled hyperparameters that jointly govern local task performance and global…