相关论文: A New Software Tool for Generating and Visualizing…
The automated generation of layouts is vital for embodied intelligence and autonomous systems, supporting applications from virtual environment construction to home robot deployment. Current approaches, however, suffer from spatial…
Multi-robot systems (MRSs) are valuable for tasks such as search and rescue due to their ability to coordinate over shared observations. A central challenge in these systems is aligning independently collected perception data across space…
This paper evaluates single-view mesh reconstruction models for their potential in enabling instant digital twin creation for real-time planning and dynamics prediction using physics simulators for robotic manipulation. Recent single-view…
The representation of a Configuration Space C plays a vital role in accelerating the finding of a collision-free path for sampling-based motion planners where the majority of computation time is spent in collision checking of states.…
This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…
An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…
This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
One core challenge in the development of automated vehicles is their capability to deal with a multitude of complex trafficscenarios with many, hard to predict traffic participants. As part of the iterative development process, it is…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
This paper demonstrates that collision detection-intensive applications such as robotic motion planning may be accelerated by performing collision checks with a machine learning model. We propose Fastron, a learning-based algorithm to model…
The simulation-based testing is essential for safely implementing autonomous vehicles (AV) on roads, necessitating simulated traffic environments that dynamically interact with the Vehicle Under Test (VUT). This study introduces a…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
The detection and classification of intersections between triangles are crucial tasks in a wide range of applications within Computer Graphics and Geometry Processing, including mesh Arrangements, mesh Booleans, and generic mesh processing…
Autonomous driving at unsignalized intersections is still considered a challenging application for machine learning due to the complications associated with handling complex multi-agent scenarios characterized by a high degree of…
Ensuring the safety of autonomous vehicles requires virtual scenario-based testing, which depends on the robust evaluation and generation of safety-critical scenarios. So far, researchers have used scenario-based testing frameworks that…
Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…