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Although location awareness and turn-by-turn instructions are prevalent outdoors due to GPS, we are back into the darkness in uninstrumented indoor environments such as underground parking structures. We get confused, disoriented when driving in these mazes, and frequently forget where we parked, ending up circling back and forth upon return. In this paper, we propose VeTrack, asmartphone-only system...
Trajectory smoothing is an important step in robot motion planning, where optimization methods are usually employed. However, the optimization problem for trajectory smoothing in a clustered environment is highly non-convex, and is hard to solve in real time using conventional non-convex optimization solvers. This paper discusses a fast online optimization algorithm for trajectory smoothing, which...
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