Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or provide no guarantee for entanglement-free paths. In this work, we present a new approach to address this problem using the theory of braids. By establishing a topological equivalence between the physical cables and the space-time trajectories of the robots, and identifying particular braid patterns that emerge from the entangled trajectories, we obtain the key finding that all complex entanglements stem from a finite number of interaction patterns between 2 or 3 robots. Hence, non-entanglement can be guaranteed by avoiding these interaction patterns in the trajectories of the robots. Based on this finding, we present a graph search algorithm using the permutation grid to efficiently search for a feasible topology of paths and reject braid patterns that result in an entanglement. We demonstrate that the proposed algorithm can achieve 100% goal-reaching capability without entanglement for up to 10 drones with a slack cable model in a high-fidelity simulation platform. The practicality of the proposed approach is verified using three small tethered UAVs in indoor flight experiments.
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The reflective nature of the human eye is an underappreciated source of information about what the world around us looks like. By imaging the eyes of a moving person, we can collect multiple views of a scene outside the camera's direct line of sight through the reflections in the eyes. In this paper, we reconstruct a 3D scene beyond the camera's line of sight using portrait images containing eye reflections. This task is challenging due to 1) the difficulty of accurately estimating eye poses and 2) the entangled appearance of the eye iris and the scene reflections. Our method jointly refines the cornea poses, the radiance field depicting the scene, and the observer's eye iris texture. We further propose a simple regularization prior on the iris texture pattern to improve reconstruction quality. Through various experiments on synthetic and real-world captures featuring people with varied eye colors, we demonstrate the feasibility of our approach to recover 3D scenes using eye reflections.
The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing systems struggle to simultaneously meet both requirements. Indeed, we find that these tasks are fundamentally misaligned and should be addressed independently. We further assess the current state of closed-loop planning in the field, revealing the limitations of learning-based methods in complex real-world scenarios and the value of simple rule-based priors such as centerline selection through lane graph search algorithms. More surprisingly, for the open-loop sub-task, we observe that the best results are achieved when using only this centerline as scene context (\ie, ignoring all information regarding the map and other agents). Combining these insights, we propose an extremely simple and efficient planner which outperforms an extensive set of competitors, winning the nuPlan planning challenge 2023.
An efficient operation of the electric shared mobility system (ESMS) relies heavily on seamless interconnections among shared electric vehicles (SEV), electric vehicle supply equipment (EVSE), and the grid. Nevertheless, this interconnectivity also makes the ESMS vulnerable to cyberattacks that may cause short-term breakdowns or long-term degradation of the ESMS. This study focuses on one such attack with long-lasting effects, the Delayed Charge Attack (DCA), that stealthily delays the charging service by exploiting the physical and communication vulnerabilities. To begin, we present the ESMS threat model by highlighting the assets, information flow, and access points. We next identify a linked sequence of vulnerabilities as a viable attack vector for launching DCA. Then, we detail the implementation of DCA, which can effectively bypass the detection in the SEV's battery management system and the cross-verification in the cloud environment. We test the DCA model against various Anomaly Detection (AD) algorithms by simulating the DCA dynamics in a Susceptible-Infectious-Removed-Susceptible process, where the EVSE can be compromised by the DCA or detected for repair. Using real-world taxi trip data and EVSE locations in New York City, the DCA model allows us to explore the long-term impacts and validate the system consequences. The results show that a 10-min delay results in 12-min longer queuing times and 8% more unfulfilled requests, leading to a 10.7% (\$311.7) weekly revenue loss per driver. With the AD algorithms, the weekly revenue loss remains at least 3.8% (\$111.8) with increased repair costs of \$36,000, suggesting the DCA's robustness against the AD.
Connecting continuum poroelasticity with discrete synthetic vascular trees for modeling liver tissue
Computational simulations have the potential to assist in liver resection surgeries by facilitating surgical planning, optimizing resection strategies, and predicting postoperative outcomes. The modeling of liver tissue across multiple length scales constitutes a significant challenge, primarily due to the multiphysics coupling of mechanical response and perfusion within the complex multiscale vascularization of the organ. In this paper, we present a modeling framework that connects continuum poroelasticity and discrete vascular tree structures to model liver tissue across disparate levels of the perfusion hierarchy. The connection is achieved through a series of modeling decisions, which include source terms in the pressure equation to model inflow from the supplying tree, pressure boundary conditions to model outflow into the draining tree, and contact conditions to model surrounding tissue. We investigate the numerical behaviour of our framework and apply it to a patient-specific full-scale liver problem that demonstrates its potential to help assess surgical liver resection procedures
Evaluating the performance of perception modules in autonomous driving is one of the most critical tasks in developing the complex intelligent system. While module-level unit test metrics adopted from traditional computer vision tasks are feasible to some extent, it remains far less explored to measure the impact of perceptual noise on the driving quality of autonomous vehicles in a consistent and holistic manner. In this work, we propose a principled framework that provides a coherent and systematic understanding of the impact an error in the perception module imposes on an autonomous agent's planning that actually controls the vehicle. Specifically, the planning process is formulated as expected utility maximisation, where all input signals from upstream modules jointly provide a world state description, and the planner strives for the optimal action by maximising the expected utility determined by both world states and actions. We show that, under practical conditions, the objective function can be represented as an inner product between the world state description and the utility function in a Hilbert space. This geometric interpretation enables a novel way to analyse the impact of noise in world state estimation on planning and leads to a universal metric for evaluating perception. The whole framework resembles the idea of transcendental idealism in the classical philosophical literature, which gives the name to our approach.
Collision avoidance (CA) has always been the foremost task for autonomous vehicles (AVs) under safety criteria. And path planning is directly responsible for generating a safe path to accomplish CA while satisfying other commands. Due to the real-time computation and simple structure, the potential field (PF) has emerged as one of the mainstream path-planning algorithms. However, the current PF is primarily simulated in ideal CA scenarios, assuming complete obstacle information while disregarding occlusion issues where obstacles can be partially or entirely hidden from the AV's sensors. During the occlusion period, the occluded obstacles do not possess a PF. Once the occlusion is over, these obstacles can generate an instantaneous virtual force that impacts the ego vehicle. Therefore, we propose an occlusion-aware path planning (OAPP) with the responsibility-sensitive safety (RSS)-based PF to tackle the occlusion problem for non-connected AVs. We first categorize the detected and occluded obstacles, and then we proceed to the RSS violation check. Finally, we can generate different virtual forces from the PF for occluded and non-occluded obstacles. We compare the proposed OAPP method with other PF-based path planning methods via MATLAB/Simulink. The simulation results indicate that the proposed method can eliminate instantaneous lateral oscillation or sway and produce a smoother path than conventional PF methods.
Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and computational efficiency. However, current PF methods used in AVs focus solely on the path generation of the ego vehicle while assuming that the surrounding obstacle vehicles drive at a preset behavior without the PF-based path planner, which ignores the fact that the ego vehicle's PF could also impact the path generation of the obstacle vehicles. To tackle this problem, we propose a PF-based path planning approach where local paths are shared among ego and obstacle vehicles via vehicle-to-vehicle (V2V) communication. Then by integrating this shared local path into an objective function, a new optimization function called interactive speed optimization (ISO) is designed to allow driving safety and comfort for both ego and obstacle vehicles. The proposed method is evaluated using MATLAB/Simulink in the urgent merging scenarios by comparing it with conventional methods. The simulation results indicate that the proposed method can mitigate the impact of other AVs' PFs by slowing down in advance, effectively reducing the oscillations for both ego and obstacle AVs.
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper addresses the single robot line coverage problem for aerial and ground robots by modeling it as an optimization problem on a graph. The problem belongs to the broad class of arc routing problems and is closely related to the rural postman problem (RPP) on asymmetric graphs. The paper presents an integer linear programming formulation with proofs of correctness. Using the minimum cost flow problem, we develop approximation algorithms with guarantees on the solution quality. These guarantees also improve the existing results for the asymmetric RPP. The main algorithm partitions the problem into three cases based on the structure of the required graph, i.e., the graph induced by the features that require servicing. We evaluate our algorithms on road networks from the 50 most populous cities in the world, consisting of up to 730 road segments. The algorithms, augmented with improvement heuristics, run within 3s and generate solutions that are within 10% of the optimum. We experimentally demonstrate our algorithms with commercial UAVs.
In this paper, we initiate the study of rate-splitting multiple access (RSMA) for a mono-static integrated sensing and communication (ISAC) system, where the dual-functional base station (BS) simultaneously communicates with multiple users and detects multiple moving targets. We aim at optimizing the ISAC waveform to jointly maximize the max-min fairness (MMF) rate of the communication users and minimize the largest eigenvalue of the Cram\'er-Rao bound (CRB) matrix for unbiased estimation. The CRB matrix considered in this work is general as it involves the estimation of angular direction, complex reflection coefficient, and Doppler frequency for multiple moving targets. Simulation results demonstrate that RSMA maintains a larger communication and sensing trade-off than conventional space-division multiple access (SDMA) and it is capable of detecting multiple targets with a high detection accuracy. The finding highlights the potential of RSMA as an effective and powerful strategy for interference management in the general multi-user multi-target ISAC systems.
Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple terrains, especially uneven and unknown ones. Since this is a prerequisite for robots to execute tasks in the wild, we enhance our previous hierarchical trajectory tracking framework to handle this issue. First, a modified adaptive RBF neural network (RBFNN) is proposed to represent all uncertainties in kinodynamics. Then the Lyapunov function is utilized to design its adaptive law, and a variable step-size algorithm is employed in the weights update procedure to accelerate convergence and improve stability. Hence, a new adaptive model prediction control-based instruction planner (VAN-MPC) is proposed. Without modifying the bottom controllers, we finally develop the multi-terrain trajectory tracking framework by employing the new instruction planner VAN-MPC. The practical experiments demonstrate its effectiveness and robustness.
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