相关论文: Quick Heuristic Validation of Edges in Dynamic Roa…

We study the problem of robustly estimating the edge density of Erd\H{o}s-R\'enyi random graphs $G(n, d^\circ/n)$ when an adversary can arbitrarily add or remove edges incident to an $\eta$-fraction of the nodes. We develop the first…

We demonstrate how to generalize two of the most well-known random graph models, the classic random graph, and random graphs with a given degree distribution, by the introduction of hidden variables in the form of extra degrees of freedom,…

The evaluation of navigation instructions remains a persistent challenge in Vision-and-Language Navigation (VLN) research. Traditional reference-based metrics such as BLEU and ROUGE fail to capture the functional utility of spatial…

We study verification (decision) problems for graph properties in distributed networks under the locally checkable labeling framework, where nodes use labels (proofs) and local neighborhoods to decide acceptance or rejection. Our focus is…

Automated vehicles promise to enhance transportation safety and efficiency. However, ensuring their reliability in real-world conditions remains challenging, particularly due to rare and unexpected situations known as edge cases. While…

In this paper we present a modification of a technique by Chiba and Nishizeki [Chiba and Nishizeki: Arboricity and Subgraph Listing Algorithms, SIAM J. Comput. 14(1), pp. 210--223 (1985)]. Based on it, we design a data structure suitable…

This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compact global descriptor, whereby a trained detector decides…

Autonomous exploration requires a robot to explore an unknown environment while constructing an accurate map using Simultaneous Localization and Mapping (SLAM) techniques. Without prior information, the exploration performance is usually…

This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…

It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into…

We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…

Pedestrian trajectory prediction is critical for ensuring safety in autonomous driving, surveillance systems, and urban planning applications. While early approaches primarily focus on one-hop pairwise relationships, recent studies attempt…

Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…

Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments.In this paper, we propose the NNPP model for…

Automated fact-checking aims to assess the truthfulness of textual claims based on relevant evidence. However, verifying complex claims that require multi-hop reasoning remains a significant challenge. We propose GraphCheck, a novel…

Given a dynamic graph subject to edge insertions and deletions, we show how to update an implicit representation of a proper vertex colouring, such that colours of vertices are computable upon query time. We give a deterministic algorithm…

A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…

Reliable road segmentation in all weather conditions is critical for intelligent transportation applications, autonomous vehicles and advanced driver's assistance systems. For robust performance, all weather conditions should be included in…

This paper addresses the challenges of registering two rigid semantic scene graphs, an essential capability when an autonomous agent needs to register its map against a remote agent, or against a prior map. The hand-crafted descriptors in…

We consider a problem of localizing a path-signal that evolves over time on a graph. A path-signal can be viewed as the trajectory of a moving agent on a graph in several consecutive time points. Combining dynamic programming and graph…