Path Planning on Multi-level Point Cloud with a Weighted Traversability Graph

This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and data-slimming algorithm for well-organized and simplified map formalization and management, 2) the direct acquisition of local traversability indexes through vehicle and point cloud interaction analysis, which saves work in surface fitting, and 3) the assignment of traversability indexes on a multi-level connectivity graph to generate a weighted traversability graph for generally search-based path planning. The A* algorithm is modified to utilize the traversability graph to generate a short and safe path. The effectiveness and reliability of the proposed method are verified through indoor and outdoor experiments conducted in various environments, including multi-floor buildings, woodland, and rugged mountainous regions. The results demonstrate that the proposed method can properly address 3D path planning problems for ground vehicles in a wide range of situations.

Modeling Dynamic Heterogeneous Graph and Node Importance for Future Citation Prediction

Accurate citation count prediction of newly published papers could help editors and readers rapidly figure out the influential papers in the future. Though many approaches are proposed to predict a paper's future citation, most ignore the dynamic heterogeneous graph structure or node importance in academic networks. To cope with this problem, we propose a Dynamic heterogeneous Graph and Node Importance network (DGNI) learning framework, which fully leverages the dynamic heterogeneous graph and node importance information to predict future citation trends of newly published papers. First, a dynamic heterogeneous network embedding module is provided to capture the dynamic evolutionary trends of the whole academic network. Then, a node importance embedding module is proposed to capture the global consistency relationship to figure out each paper's node importance. Finally, the dynamic evolutionary trend embeddings and node importance embeddings calculated above are combined to jointly predict the future citation counts of each paper, by a log-normal distribution model according to multi-faced paper node representations. Extensive experiments on two large-scale datasets demonstrate that our model significantly improves all indicators compared to the SOTA models.

VLSI Mask Optimization: From Shallow To Deep Learning

VLSI mask optimization is one of the most critical stages in manufacturability aware design, which is costly due to the complicated mask optimization and lithography simulation. Recent researches have shown prominent advantages of machine learning techniques dealing with complicated and big data problems, which bring potential of dedicated machine learning solution for DFM problems and facilitate the VLSI design cycle. In this paper, we focus on a heterogeneous OPC framework that assists mask layout optimization. Preliminary results show the efficiency and effectiveness of proposed frameworks that have the potential to be alternatives to existing EDA solutions.