20 papers · ranked by Valyu relevance
Hrigved Mahesh Suryawanshi
| | | List of Figures | iv | |---|----------------|--------------------------------------------------------------------------|------| | | List of Tables | | vi | | | | Acknowledgments | vii | | | Abstract | | viii | | 1 | | Introduction | 1 | | | 1.1 | Background and Motivation | 1 | | | 1.2 | Defining Traversability |…
Samarth Chopra, Jing Liang, Gershom Seneviratne, Yonghan Lee + 4 more
— We present Splatblox, a real-time system for autonomous navigation in outdoor environments with dense vegetation, irregular obstacles, and complex terrain. Our method fuses segmented RGB images and LiDAR point clouds using Gaussian Splatting to construct a traversability-aware Euclidean Signed Distance Field (ESDF)…
Ji-Hoon Hwang, Jisung Bae, Dong-Wook Kim, Yeonkyu Lee + 1 more
Vision-based approaches have become the dominant paradigm for traversability estimation in unstructured outdoor environments, typically adapting vision foundation models (VFMs) via semantic segmentation supervision. However, this paradigm faces three fundamental challenges that undermine its reliability: the…
Masafumi Endo, Tatsunori Taniai, Genya Ishigami
Traversability assessment of deformable terrain is vital for safe rover navigation on planetary surfaces. Machine learning (ML) is a powerful tool for traversability prediction but its inherent predictive uncertainty increases the risk of wheel slips and permanent rover immobilization. To address this issue, we…
Taisei Nishishita, Genya Ishigami
As part of the robotics technologies required for In-situ resource utilization (ISRU), the development of cargo rovers for transporting resources is needed. However, these cargo rovers have unique technical challenges that differ from conventional exploration rovers, including the need to traverse rough terrains with…
Daniel Fusaro, Simone Mosco, Wanmeng Li, Alberto Pretto
Traversability analysis is a fundamental capability for autonomous mobile robots operating in unstructured environments. While modern machine learning approaches such as deep neural networks and gradient-boosted trees achieve strong predictive performance, they lack interpretability and provide limited insight into the…
Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola, Ricardo V. Godoy + 1 more
Estimating traversability in unstructured environments requires conditioning on robot embodiment, as the same terrain can be traversable for one platform and unsafe for another. Existing methods often transfer predictions across morphologies through late-stage trajectory filtering rather than encoding platform…
Kasi Viswanath, Jason M. Gregory, Shaunak Kolhe, Srikanth Saripalli
Autonomous navigation across large off-road environments remains a challenging problem. Onboard sensors perceive only the immediate surroundings, yet safe and efficient routes depend on terrain features that extend well beyond the sensor horizon. Geo-spatial data sources such as satellite imagery, aerial LiDAR, and…
Adam Mark Mazurick, Alex Ferworn, Maja Pušnik, Boštjan Šumak
Supervising tactile-first robotic traversal in confined, uncertain spaces poses a challenge: operators must be able to intervene without continuous micromanagement. We present a human-machine interface (HMI) that blends operator commands with safety-constrained autonomy and surfaces risk through synthesized predictive…
Shuyang Shi, Kaixian Qu, Changan Chen, Ines Kast + 2 more
Global navigation for ground robots in complex multi-level environments requires representations that accurately capture traversable regions while enabling efficient path planning. Current approaches present key limitations: Point clouds and volumetric occupancy maps lack explicit surface structure for traversability…
Giuliana E. Miceli, Natasha Bosanac
This paper uses a motion primitive approach to automatically generate constrained spacecraft trajectories for Neptunian system exploration. Motion primitives are generated as smaller building blocks of motion that summarize periodic orbits and arcs along stable and unstable manifolds of selected orbits in the…
Shiori Takeshige, Jamie M Kass, Gota Yajima, Yusaku Ohkubo
Understanding animal movement behavior is essential for conservation and elucidating various ecological processes. In particular, assessing habitat suitability is a central theme in movement ecology, traditionally evaluated by estimating travel distances per unit time across diverse environmental conditions based on…
Kye E. Hunter, Nora S. Martin
Evolving populations, especially in the strong-selection-weak-mutation limit, can be modelled as adaptive walks on fitness landscapes, moving in fitness-increasing mutational steps until reaching a fitness peak—a local optimum. Simulations of such adaptive walks—on a multi-peaked empirical landscape of the folA gene…
Yanyun Ding, Yunsik Kim, Hunkee Kim, Udo Frese
Highlights What are the main findings?1. A novel 3D trajectory estimation mechanism was developed using a single 9-axis IMU that integrates stride-length estimation, heading alignment, and stair-state recognition, enabling accurate and continuous tracking without external references in GNSS-denied environments. 2.…
Ryo Murata, Kenji Tanaka, Ibrahim Hoteit
Understanding the dynamics of pedestrian flow in urban areas is crucial for decision-making in urban planning and marketing strategies. Previous methods for analyzing pedestrian flow can be divided into data-driven approaches and simulation-driven approaches. While data-driven approaches effectively capture actual…
Authors not listed
Developing a transferable classical force field (FF) has historically been a lengthy, expert-informed process. In this work, we integrate optimization, machine learning, and data science techniques to accelerate the systematic design and parameterization of transferable FF models. As a demonstration, we create…
Kazuyuki Miyakita, Daichi Meguro, Hiroshi Tamura, Keisuke Nakano + 1 more
Information floating (IF) is a method of delivering information to mobile nodes in a desired area while avoiding unnecessary communication and information dissemination by restricting direct wireless transmission to a transmittable area (TA). This restriction, however, also leads to the termination of IF, which is a…
Junwoo Park, Nataliya Sokolovska, Clément Cabriel, Asaki Kobayashi + 4 more
Single-molecule tracking (SMT) in live cells reveals how biomolecules explore crowded intracellular environments, yet most tracking software assumes Brownian motion, an approximation that fails when anomalous diffusion dominates. This leads to biased trajectory reconstruction and loss of biophysical information…
Authors not listed
Knowledge of the reaction rate constants can be vital in understanding electrochemical reaction mechanisms and their rate-determining processes. Although first-principles methods, such as density functional theory (DFT), provide valuable insight into reaction free energies and rate constants, they commonly use…
Authors not listed
Graph Neural Networks (GNNs) are powerful tools for molecular property prediction, but they are not magic. When applied to molecules unlike their training data, they produce unreliable predictions that are difficult to detect. The Applicability Domain (AD) concept addresses this by defining regions of chemical space…