16 accepted papers
Dynamic task allocation in multi-UAV systems, where pickup-and-delivery tasks arrive randomly with time windows, is challenging due to two main factors: (1) strict temporal and spatial constraints, and (2) reduced allocation optimality caused by unforeseen tasks. This paper proposes a distributed au
Relevance module plays a fundamental role in e-commerce search as they are responsible for selecting relevant products from thousands of items based on user queries, thereby enhancing users experience and efficiency. The traditional method calculates the relevance score based on product titles and u…
Natural language processing models are vulnerable to adversarial examples. Previous textual adversarial attacks adopt model internal information (gradients or confidence scores) to generate adversarial examples. However, this information is unavailable in the real world. Therefore, we focus on a mo…
In this paper, we introduce a novel temporal convolutional shrinkage network to enhance feature learning from noisy speech signals. Taking into account the non-stationary nature of speech signals, we introduce an approach that integrates time-varying soft thresholding with a temporal convolutional n…
Autonomous navigation of Micro Aerial Vehicles (MAVs) in dynamic and unknown environments is a complex and challenging task. Current works rely on assumptions to solve the problem. The MAV's pose is precisely known, the dynamic obstacles can be explicitly segmented from static ones, their number is
This letter addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains stiff contact between the robot and the object to avoid con
Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This letter introduces a self-supervised continual learning framework to improve data-driven pedestrian prediction models online
This letter presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots to achieve predictive collision avoidance. These motion pre
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to shots and locally optimizes online the viewpoint. Given desired…
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide full coverage of the surface, which inherently assumes the…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides the estimated position, velocity and size of the obstacles.…
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians. Previous works for estimating multiple motion hypotheses requ
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex dynamic environments, the coordination boost allowed by commu…
During immune surveillance, cytotoxic T lymphocytes (CTL) can selectively identify and destroy tumor cells by recognizing tumor-specific peptides (neoantigens), bound to major histocompatibility complex molecules (pMHC) arrayed on cancer cell surfaces. CTL use the same machinery to destroy virally i
Safe autonomous navigation of microair vehicles in cluttered dynamic environments is challenging due to the uncertainties arising from robot localization, sensing, and motion disturbances. This letter presents a probabilistic collision avoidance method for navigation among other robots and moving ob
This paper presents a distributed method for splitting and merging of multi-robot formations in dynamic environments with static and moving obstacles. Splitting and merging actions rely on distributed consensus and can be performed to avoid obstacles. Our method accounts for the limited communicatio…