4 papers
STAR-Filter: Efficient Convex Free-Space Approximation via Starshaped Set Filtering in Noisy Environments
Yuwei Wu, Yichen Zhao, Dexter Ong +1
Approximating collision-free space is fundamental to robot planning in complex environments. Convex geometric representations, such as polytopes and ellipsoids, are widely employed…
Super4DR: 4D Radar-centric Self-supervised Odometry and Gaussian-based Map Optimization
Zhiheng Li, Weihua Wang, Qiang Shen +2
Conventional SLAM systems using visual or LiDAR data often struggle in poor lighting and severe weather. Although 4D radar is suited for such environments, its sparse and noisy poi…
Asynchronous Nonlinear Sheaf Diffusion for Multi-Agent Coordination
Yichen Zhao, Tyler Hanks, Hans Riess +3
Cellular sheaves and sheaf Laplacians provide a far-reaching generalization of graphs and graph Laplacians, resulting in a wide array of applications ranging from machine learning…
A Distributed Asynchronous Generalized Momentum Algorithm Without Delay Bounds
Ellie Pond, Yichen Zhao, Matthew Hale
Asynchronous optimization algorithms often require delay bounds to prove their convergence, though these bounds can be difficult to obtain in practice. Therefore, we introduce a no…