12 papers · 1 filter
Localization in Spatiotemporal Fields via Environmental PDEs
Jose Fuentes, Abdullah Al Redwan Newaz, Ana Cavalcanti +1
This paper proposes a localization framework that uses spatiotemporal fields governed by partial differential equations (PDEs) as localization signatures. Two PDE classes are consi…
A New Implementation of NeoSLAM and a Comparative Evaluation with RatSLAM
Joao Victor T. Borges, Fabio Coelho, Paulo Padrao +4
This paper presents a new implementation of the NeoSLAM algorithm. The proposed version is a complete rewrite of NeoSLAM into a modular architecture using modern frameworks that, t…
BOWConnect: Parallel Bayesian Optimization over Windows with Learned Local Cost Maps for Sample-Efficient Kinodynamic Motion Planning
Sourav Raxit, Abdullah Al Redwan Newaz, Jose Fuentes +1
This paper presents BOWConnect, a bidirectional parallel kinodynamic motion planner that addresses three fundamental limitations of existing sampling-based methods: sample ineffici…
Muninn: Your Trajectory Diffusion Model But Faster
Gokul Puthumanaillam, Hao Jiang, Ruben Hernandez +4
Diffusion-based trajectory planners can synthesize rich, multimodal robot motions, but their iterative denoising makes online planning and control prohibitively slow. Existing acce…
Multi-Robot Trajectory Planning via Constrained Bayesian Optimization and Local Cost Map Learning with STL-Based Conflict Resolution
Sourav Raxit, Abdullah Al Redwan Newaz, Jose Fuentes +3
We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adap…
Bioinspired SLAM Approach for Unmanned Surface Vehicle
Fabio Coelho, Joao Victor T. Borges, Paulo Padrao +4
This paper presents OpenRatSLAM2, a new version of OpenRatSLAM - a bioinspired SLAM framework based on computational models of the rodent hippocampus. OpenRatSLAM2 delivers low-com…