arXiv subjects

Haomin Shi

Publications and source records attributed to Haomin Shi.

3 recordsLinked to original sources

arXiv2025

Robust UAV Path Planning with Obstacle Avoidance for Emergency Rescue

The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle avoidance for UAVs is a significant issue for security assurance. In this paper, we construct a comprehensive 3D scenario with obstacles and no-fly zones for dynamic UAV trajectory. Moreover, a novel artificial potential field algorithm coupled with simulated annealing (APF-SA) is proposed to tackle the robust path planning problem. APF-SA modifies the attractive and repulsive potential functions and leverages simulated annealing to escape local minimum and converge to globally optimal solutions. Simulation results demonstrate that the effectiveness of APF-SA, enabling efficient autonomous path planning for UAVs with obstacle avoidance.

cs.RO↗

arXiv2020

Maximal Information Propagation with Budgets

In this paper, we present an information propagation game on a network where the information is originated from a sponsor who is willing to pay a fixed total budget to the players who propagate the information. Our solution can be applied to real world situations such as advertising via social networks with limited budgets. The goal is to design a mechanism to distribute the budget such that all players in the social network are incentivized to propagate information to all their neighbours. We propose a family of mechanisms to achieve the goal, where propagating information to all neighbours is a dominant strategy for all players. Furthermore, we also consider the cases where the budget has to be completely shared.

cs.GT↗

arXiv2020

Globally optimal point set registration by joint symmetry plane fitting

The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of symmetry. By reflecting the points of each set with respect to the plane of symmetry, we can largely increase the overlap between the sets and therefore boost the registration process. However, prior knowledge about the plane of symmetry is generally unavailable or at least very hard to find, especially with limited partial views, and finding this plane could strongly benefit from a prior alignment of the partial point sets. We solve this chicken-and-egg problem by jointly optimizing the relative pose and symmetry plane parameters, and notably do so under global optimality by employing the branch-and-bound (BnB) paradigm. Our results demonstrate a great improvement over the current state-of-the-art in globally optimal point set registration for common objects. We furthermore show an interesting application of our method to dense 3D reconstruction of scenes with repetitive objects.

cs.CG↗