arXiv subjects

Avraham Cohen

Publications and source records attributed to Avraham Cohen.

5 recordsLinked to original sources

arXiv2023

Learning to Explore Indoor Environments using Autonomous Micro Aerial Vehicles

In this paper, we address the challenge of exploring unknown indoor aerial environments using autonomous aerial robots with Size Weight and Power (SWaP) constraints. The SWaP constraints induce limits on mission time requiring efficiency in exploration. We present a novel exploration framework that uses Deep Learning (DL) to predict the most likely indoor map given the previous observations, and Deep Reinforcement Learning (DRL) for exploration, designed to run on modern SWaP constraints neural processors. The DL-based map predictor provides a prediction of the occupancy of the unseen environment while the DRL-based planner determines the best navigation goals that can be safely reached to provide the most information. The two modules are tightly coupled and run onboard allowing the vehicle to safely map an unknown environment. Extensive experimental and simulation results show that our approach surpasses state-of-the-art methods by 50-60% in efficiency, which we measure by the fraction of the explored space as a function of the length of the trajectory traveled.

cs.RO↗

arXiv2020

Place Recognition in Forests with Urquhart Tessellations

In this letter, we present a novel descriptor based on Urquhart tessellations derived from the position of trees in a forest. We propose a framework that uses these descriptors to detect previously seen observations and landmark correspondences, even with partial overlap and noise. We run loop closure detection experiments in simulation and real-world data map-merging from different flights of an Unmanned Aerial Vehicle (UAV) in a pine tree forest and show that our method outperforms state-of-the-art approaches in accuracy and robustness.

cs.CV↗

arXiv2019

Mine Tunnel Exploration using Multiple Quadrupedal Robots

Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further exacerbated by the need to minimize human intervention for practical applications. While legged robots have the ability to traverse extremely challenging terrain, they also engender new challenges for planning, estimation, and control. In this work, we describe a fully autonomous system for multi-robot mine exploration and mapping using legged quadrupeds, as well as a distributed database mesh networking system for reporting data. In addition, we show results from the DARPA Subterranean Challenge (SubT) Tunnel Circuit demonstrating localization of artifacts after traversals of hundreds of meters. These experiments describe fully autonomous exploration of an unknown Global Navigation Satellite System (GNSS)-denied environment undertaken by legged robots.

cs.RO↗

arXiv1999

Statistics of Coulomb Blockade Peak Spacings within the Hartree-Fock Approximation

We study the effect of electronic interactions on the addition spectra and on the energy level distributions of two-dimensional quantum dots with weak disorder using the self-consistent Hartree-Fock approximation for spinless electrons. We show that the distribution of the conductance peak spacings is Gaussian with large fluctuations that exceed, in agreement with experiments, the mean level spacing of the non-interacting system. We analyze this distribution on the basis of Koopmans' theorem. We show furthermore that the occupied and unoccupied Hartree-Fock levels exhibit Wigner-Dyson statistics.

cond-mat.mes-hall↗

arXiv1998

Spin and interaction effects on charge distribution and currents in one-dimensional conductors and rings within the Hartree-Fock approximation

Using the self--consistent Hartree-Fock approximation for electrons with spin at zero temperature, we study the effect of the electronic interactions on the charge distribution in a one-dimensional continuous ring containing a single $δ$ scatterer. We reestablish that the interaction suppresses the decay of the Friedel oscillations. Based on this result, we show that in an infinite one dimensional conductor containing a weak scatterer, the current is totally suppressed because of a gap opened at the Fermi energy. In a canonical ensemble of continuous rings containing many scatterers, the interactions enhance the average and the typical persistent current.

cond-mat.mes-hall↗