相关论文: Quick Heuristic Validation of Edges in Dynamic Roa…
In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method for converting the plan of a building into what we denote…
In the age of real-time online traffic information and GPS-enabled devices, fastest-path computations between two points in a road network modeled as a directed graph, where each directed edge is weighted by a "travel time" value, are…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Team Coordination on Graphs with Risky Edges (\textsc{tcgre}) is a recently proposed problem, in which robots find paths to their goals while considering possible coordination to reduce overall team cost. However, \textsc{tcgre} assumes…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
This paper describes a revision of the classic Lazy Probabilistic Roadmaps algorithm (Lazy PRM), that results from pairing PRM and a novel Branch-and-Cut (BC) algorithm. Cuts are dynamically generated constraints that are imposed on minimum…
A dynamic graph algorithm is a data structure that supports edge insertions, deletions, and specific problem queries. While extensive research exists on dynamic algorithms for graph problems solvable in polynomial time, most of these…
Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…
This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…
Given that no existing graph construction method can generate a perfect graph for a given dataset, graph-based algorithms are often affected by redundant and erroneous edges present within the constructed graphs. In this paper, we view…
We study dynamic graph algorithms in the Massively Parallel Computation model, which was inspired by practical data processing systems. Our goal is to provide algorithms that can efficiently handle large batches of edge insertions and…
We introduce a dynamic version of the graph coloring problem and prove its fixed-parameter tractability with respect to the edit-parameter. This is used to present a {\em turbo-charged} heuristic for the problem that works by combining the…
In this paper, we propose a deterministic algorithm that approximates the optimal path cover on weighted undirected graphs. Based on the 1/2-Approximation Path Cover Algorithm by Moran et al., we add a procedure to remove the redundant…
Shortest-path roadmaps, also known as reduced visibility graphs, provides a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combined with Minkowski sum computations, shortest-path roadmaps…
Binary classification problems can be naturally modeled as bipartite graphs, where we attempt to classify right nodes based on their left adjacencies. We consider the case of labeled bipartite graphs in which some labels and edges are not…
Quality-Diversity optimisation algorithms enable the evolution of collections of both high-performing and diverse solutions. These collections offer the possibility to quickly adapt and switch from one solution to another in case it is not…
Pose-graph SLAM is the de facto standard framework for constructing large-scale maps from multi-session experiences of relative observations and motions during visual robot navigation. It has received increasing attention in the context of…
This work introduces a new approach for accelerating the numerical analysis of time-domain partial differential equations (PDEs) governing complex physical systems. The methodology is based on a combination of a classical reduced-order…