Sensor-based Multi-Robot Search and Coverage with Spatial Separation in Unstructured Environments

Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured environments with dense obstacles. This paper presents an innovative, decentralized Voronoi-based approach for search and coverage to reactively navigate these complexities while maintaining safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic Information System), offering a more comprehensive and real-time understanding of the environment. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in both task success rate, coverage ratio, and task execution time compared with others.

OA-ECBVC: A Cooperative Collision-free Encirclement and Capture Approach in Cluttered Environments

This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the evader by reacting to collisions. An efficient approach is presented for constructing an obstacle-aware evader-centered bounded Voronoi cell (OA-ECBVC), which strictly ensures collision avoidance in various obstacle scenarios when pursuing the evader. The evader can be efficiently enclosed in a convex hull given random initial configurations. Furthermore, to cooperatively capture the evader, each pursuer continually compresses the boundary of its OA-ECBVC to quickly reduce the movement space of the evader while maintaining encirclement. Our OA-ECBVC algorithm is validated in various simulated environments with different dynamic systems of robots. Real-time performance of resisting uncertainties shows the superior reliability of our method for deployment on multiple robot platforms.

Recurrent Temporal Revision Graph Networks

Temporal graphs offer more accurate modeling of many real-world scenarios than static graphs. However, neighbor aggregation, a critical building block of graph networks, for temporal graphs, is currently straightforwardly extended from that of static graphs. It can be computationally expensive when involving all historical neighbors during such aggregation. In practice, typically only a subset of the most recent neighbors are involved. However, such subsampling leads to incomplete and biased neighbor information. To address this limitation, we propose a novel framework for temporal neighbor aggregation that uses the recurrent neural network with node-wise hidden states to integrate information from all historical neighbors for each node to acquire the complete neighbor information. We demonstrate the superior theoretical expressiveness of the proposed framework as well as its state-of-the-art performance in real-world applications. Notably, it achieves a significant +9.6% improvement on averaged precision in a real-world Ecommerce dataset over existing methods on 2-layer models.

Air Bumper: A Collision Detection and Reaction Framework for Autonomous MAV Navigation

Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been developed, it is still possible for drones to collide with unobserved obstacles due to unpredictable disturbances, sensor limitations, and control uncertainty. Instead of completely avoiding collisions, this article proposes Air Bumper, a collision detection and reaction framework, for fully autonomous flight in 3D environments to improve the safety of drones. Our framework only utilizes the onboard inertial measurement unit (IMU) to detect and estimate collisions. We further design a collision recovery control for rapid recovery and collision-aware mapping to integrate collision information into general LiDAR-based sensing and planning frameworks. Our simulation and experimental results show that the quadrotor can rapidly detect, estimate, and recover from collisions with obstacles in 3D space and continue the flight smoothly with the help of the collision-aware map.

Sampling-based path planning under temporal logic constraints with real-time adaptation

Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and partially unknown environments. Given prior knowledge and a task specification, the planner first identifies an initial feasible solution by growing a sampling-based search tree. While carrying out the computed plan, the robot maintains a solution library to continuously enhance the unfinished part of the plan and store backup plans. The planner updates existing plans when meeting unexpected obstacles or recognizing flaws in prior knowledge. Upon a high-level path is obtained, a trajectory generator tracks the path by dividing it into segments of motion primitives. Our planner is integrated into an autonomous mobile robot system, further deployed on a multicopter with limited onboard processing power. In simulation and real-world experiments, our planner is demonstrated to swiftly and effectively adjust to environmental uncertainties.

Clustered Embedding Learning for Recommender Systems

In recent years, recommender systems have advanced rapidly, where embedding learning for users and items plays a critical role. A standard method learns a unique embedding vector for each user and item. However, such a method has two important limitations in real-world applications: 1) it is hard to learn embeddings that generalize well for users and items with rare interactions on their own; and 2) it may incur unbearably high memory costs when the number of users and items scales up. Existing approaches either can only address one of the limitations or have flawed overall performances. In this paper, we propose Clustered Embedding Learning (CEL) as an integrated solution to these two problems. CEL is a plug-and-play embedding learning framework that can be combined with any differentiable feature interaction model. It is capable of achieving improved performance, especially for cold users and items, with reduced memory cost. CEL enables automatic and dynamic clustering of users and items in a top-down fashion, where clustered entities jointly learn a shared embedding. The accelerated version of CEL has an optimal time complexity, which supports efficient online updates. Theoretically, we prove the identifiability and the existence of a unique optimal number of clusters for CEL in the context of nonnegative matrix factorization. Empirically, we validate the effectiveness of CEL on three public datasets and one business dataset, showing its consistently superior performance against current state-of-the-art methods. In particular, when incorporating CEL into the business model, it brings an improvement of $+0.6\%$ in AUC, which translates into a significant revenue gain; meanwhile, the size of the embedding table gets $2650$ times smaller.

EISeg: An Efficient Interactive Segmentation Tool based on PaddlePaddle

In recent years, the rapid development of deep learning has brought great advancements to image and video segmentation methods based on neural networks. However, to unleash the full potential of such models, large numbers of high-quality annotated images are necessary for model training. Currently, many widely used open-source image segmentation software relies heavily on manual annotation which is tedious and time-consuming. In this work, we introduce EISeg, an Efficient Interactive SEGmentation annotation tool that can drastically improve image segmentation annotation efficiency, generating highly accurate segmentation masks with only a few clicks. We also provide various domain-specific models for remote sensing, medical imaging, industrial quality inspections, human segmentation, and temporal aware models for video segmentation. The source code for our algorithm and user interface are available at: https://github.com/PaddlePaddle/PaddleSeg.

Visuo-Tactile Transformers for Manipulation

Learning representations in the joint domain of vision and touch can improve manipulation dexterity, robustness, and sample-complexity by exploiting mutual information and complementary cues. Here, we present Visuo-Tactile Transformers (VTTs), a novel multimodal representation learning approach suited for model-based reinforcement learning and planning. Our approach extends the Visual Transformer \cite{dosovitskiy2021image} to handle visuo-tactile feedback. Specifically, VTT uses tactile feedback together with self and cross-modal attention to build latent heatmap representations that focus attention on important task features in the visual domain. We demonstrate the efficacy of VTT for representation learning with a comparative evaluation against baselines on four simulated robot tasks and one real world block pushing task. We conduct an ablation study over the components of VTT to highlight the importance of cross-modality in representation learning.