arXiv subjects

Kohei Honda

Publications and source records attributed to Kohei Honda.

23 records · Page 2Linked to original sources

arXiv2023

MPC Builder for Autonomous Drive: Automatic Generation of MPCs for Motion Planning and Control

This study presents a new framework for vehicle motion planning and control based on the automatic generation of model predictive controllers (MPCs) named MPC Builder. In this framework, several components necessary for MPC, such as prediction models, constraints, and cost functions, are prepared in advance. The MPC Builder then generates various MPCs online in a unified manner according to traffic situations. This scheme enabled us to represent various driving tasks with less design effort than typical switched MPC systems. The proposed framework was implemented considering the continuation/generalized minimum residual (C/GMRES) method optimization solver, which can reduce computational costs. Finally, numerical experiments on multiple driving scenarios were presented.

cs.RO↗

arXiv2022

Generalized LOAM: LiDAR Odometry Estimation with Trainable Local Geometric Features

This paper presents a LiDAR odometry estimation framework called Generalized LOAM. Our proposed method is generalized in that it can seamlessly fuse various local geometric shapes around points to improve the position estimation accuracy compared to the conventional LiDAR odometry and mapping (LOAM) method. To utilize continuous geometric features for LiDAR odometry estimation, we incorporate tiny neural networks into a generalized iterative closest point (GICP) algorithm. These neural networks improve the data association metric and the matching cost function using local geometric features. Experiments with the KITTI benchmark demonstrate that our proposed method reduces relative trajectory errors compared to the other LiDAR odometry estimation methods.

cs.RO↗

arXiv2011

Proceedings Third Workshop on Programming Language Approaches to Concurrency and communication-cEntric Software

This is the proceedings of PLACES'10, the 3rd Workshop on Programming Language Approaches to Concurrency and Communication-cEntric Software, held in Pathos, Cyprus, on 21st Mach, 2010, co-located with the ETAPS federated conferences. PLACES aims to offer a forum where researchers from different fields exchange new ideas on one of the central challenges in programming in near future, the development of programming methodologies and infrastructures where concurrency and distribution are a norm rather than a marginal concern. The Program Committee, after a careful and thorough reviewing process, selected for presentation in the programme 10 papers out of 14 submissions. Each submission was evaluated by at least two referees, and the accepted papers were selected during two weeks' electronic discussions. This post-proceedings contain the papers which are based on these submissions, incorporating the result of these and further reviews, resulting in strengthened technical results and presentations.

cs.PL↗

arXiv2010

Multiparty Symmetric Sum Types

This paper introduces a new theory of multiparty session types based on symmetric sum types, by which we can type non-deterministic orchestration choice behaviours. While the original branching type in session types can represent a choice made by a single participant and accepted by others determining how the session proceeds, the symmetric sum type represents a choice made by agreement among all the participants of a session. Such behaviour can be found in many practical systems, including collaborative workflow in healthcare systems for clinical practice guidelines (CPGs). Processes using the symmetric sums can be embedded into the original branching types using conductor processes. We show that this type-driven embedding preserves typability, satisfies semantic soundness and completeness, and meets the encodability criteria adapted to the typed setting. The theory leads to an efficient implementation of a prototypical tool for CPGs which automatically translates the original CPG specifications from a representation called the Process Matrix to symmetric sum types, type checks programs and executes them.

cs.DC↗

arXiv2008

Logical Reasoning for Higher-Order Functions with Local State

We introduce an extension of Hoare logic for call-by-value higher-order functions with ML-like local reference generation. Local references may be generated dynamically and exported outside their scope, may store higher-order functions and may be used to construct complex mutable data structures. This primitive is captured logically using a predicate asserting reachability of a reference name from a possibly higher-order datum and quantifiers over hidden references. We explore the logic's descriptive and reasoning power with non-trivial programming examples combining higher-order procedures and dynamically generated local state. Axioms for reachability and local invariant play a central role for reasoning about the examples.

cs.LO↗