Yingjian Wang

Jialin Ji, Zhepei Wang, Yingjian Wang et al.

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a reliable proximity query algorithm is proposed for maintaining raw historical information. A sampling-based scheme is designed to extract the free-space skeleton. A smart waypoint selection strategy enables to generate high-quality trajectories within the resultant flight corridors. Our planner differs from other mapless ones in that it can abstract and exploit the environment information efficiently. The online replan consistency and success rate are both significantly improved against conventional mapless methods.

Yingjian Wang, Lawrence Carin

We develop new representations for the Levy measures of the beta and gamma processes. These representations are manifested in terms of an infinite sum of well-behaved (proper) beta and gamma distributions. Further, we demonstrate how these infinite sums may be truncated in practice, and explicitly characterize truncation errors. We also perform an analysis of the characteristics of posterior distributions, based on the proposed decompositions. The decompositions provide new insights into the beta and gamma processes (and their generalizations), and we demonstrate how the proposed representation unifies some properties of the two. This paper is meant to provide a rigorous foundation for and new perspectives on Levy processes, as these are of increasing importance in machine learning.