相关论文: Quick Heuristic Validation of Edges in Dynamic Roa…
Many variations of the classical graph coloring model have been intensively studied due to their multiple applications; scheduling problems and aircraft assignments, for instance, motivate the robust coloring problem. This model gets to…
In this paper, we present algorithms to identify environmental hotspots using mobile sensors. We examine two approaches: one involving a single robot and another using multiple robots coordinated through a decentralized robot system. We…
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many…
Autonomous exploration in dynamic environments necessitates a planner that can proactively respond to changes and make efficient and safe decisions for robots. Although plenty of sampling-based works have shown success in exploring static…
Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the environment is quasi-static, i.e., it is sufficient to…
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…
Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
We consider the minimization of edge-crossings in geometric drawings of graphs $G=(V, E)$, i.e., in drawings where each edge is depicted as a line segment. The respective decision problem is NP-hard [Bienstock, '91]. In contrast to theory…
In many domains, relationships between categories are encoded in the knowledge graph. Recently, promising results have been achieved by incorporating knowledge graph as side information in hard classification tasks with severely limited…
In a semi-supervised learning scenario, (possibly noisy) partially observed labels are used as input to train a classifier, in order to assign labels to unclassified samples. In this paper, we study this classifier learning problem from a…
We consider the minimum spanning tree problem in a setting where information about the edge weights of the given graph is uncertain. Initially, for each edge $e$ of the graph only a set $A_e$, called an uncertainty area, that contains the…
Graph connectivity is a fundamental combinatorial optimization problem that arises in many practical applications, where usually a spanning subgraph of a network is used for its operation. However, in the real world, links may fail…
One of the fundamental challenges in the design of perception systems for autonomous vehicles is validating the performance of each algorithm under a comprehensive variety of operating conditions. In the case of vision-based semantic…
Robust and accurate calibration of macroscopic traffic flow models such as METANET is critical for reliable prediction and effective control. While gradient-based methods are desirable for high-dimensional parameter spaces, their…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
Paths planned over grids can often be suboptimal in an Euclidean space and contain a large number of unnecessary turns. Consequently, researchers have looked into post-processing techniques to improve the paths after they are planned. In…
In situations where humans and robots are moving in the same space whilst performing their own tasks, predictable paths taken by mobile robots can not only make the environment feel safer, but humans can also help with the navigation in the…
We present an interactive framework that, given a membership test for a graph class $\mathcal{G}$ and a number $k$, finds and tests unavoidable sets for the class of graphs in $\mathcal{G}$ of path-width at most $k$. We put special emphasis…