8 papers
An Exact Generalized k-Cell Decomposition
Yeganeh Bahoo, Sajad Saeedi, Roni Sherman
This paper introduces an exact -cell decomposition for visibility planning in polygonal environments for agents equipped with -modems, devices that can see through up to …
MVOFormer: Flow-Semantic Transformer for Robust Monocular Visual Odometry
Jituo Li, Shunwang Sun, Jialu Zhang +5
Monocular visual odometry (MVO) is foundational to autonomous navigation and robotic localization. However, existing learning-based MVO approaches often struggle with either a lack…
Inverse k-visibility for RSSI-based Indoor Geometric Mapping
Junseo Kim, Matthew Lisondra, Yeganeh Bahoo +1
In recent years, the increased availability of WiFi in indoor environments has gained interest in the robotics community to utilize WiFi signals for indoor simultaneous localizatio…
Generalized k-Cell Decomposition for Visibility Planning in Polygons
Yeganeh Bahoo, Sajad Saeedi, Roni Sherman
This paper introduces a novel -cell decomposition method for pursuit-evasion problems in polygonal environments, where a searcher is equipped with a -modem: a device capable…
FG-PE: Factor-graph Approach for Multi-robot Pursuit-Evasion
Messiah Abolfazli Esfahani, AyÅe BaÅar, Sajad Saeedi
With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effect…
M^3RS: Multi-robot, Multi-objective, and Multi-mode Routing and Scheduling
Ishaan Mehta, Junseo Kim, Sharareh Taghipour +1
Task execution quality significantly impacts multi-robot missions, yet existing task allocation frameworks rarely consider quality of service as a decision variable, despite its im…