Vector fields are advantageous in handling non holonomic motion planning, as they provide the robot with reference orientation across the workspace. However, additionally incorporating curvature constraints presents challenges due to the interconnection between the design of the curvature-bounded vector field and the tracking controller under limited actuation. In this paper, we present a novel framework to co-develop the vector field and the control law, guiding the nonholonomic robot to the target configuration with curvature-bounded trajectory. First, we formulate the problem by introducing the target positive limit set, which allows the robot to either converge to or pass through the target configuration, depending on its dynamics and the specific tasks. Next, we construct a curvature-constrained vector field (CVF) via blending and embedding elementary flows in the workspace. To track such CVF, a saturated control law with dynamic gains is proposed, under which the tracking error's magnitude decreases even when saturation occurs. Under the control law, the kinematically constrained nonholonomic robot is guaranteed to track the reference CVF and converge to the target positive limit set with bounded trajectory curvature. Numerical simulations show that the proposed CVF method outperforms other vector-field-based algorithms. Experiments on Ackermann UGVs and semi-physical fixed-wing UAVs demonstrate that the method can be effectively implemented in real-world scenarios.

Pre-trained models (PTMs) have become a fundamental backbone for downstream tasks in natural language processing and computer vision. Despite initial gains that were obtained by applying generic PTMs to geo-related tasks at Baidu Maps, a clear performance plateau over time was observed. One of the main reasons for this plateau is the lack of readily available geographic knowledge in generic PTMs. To address this problem, in this paper, we present ERNIE-GeoL, which is a geography-and-language pre-trained model designed and developed for improving the geo-related tasks at Baidu Maps. ERNIE-GeoL is elaborately designed to learn a universal representation of geography-language by pre-training on large-scale data generated from a heterogeneous graph that contains abundant geographic knowledge. Extensive quantitative and qualitative experiments conducted on large-scale real-world datasets demonstrate the superiority and effectiveness of ERNIE-GeoL. ERNIE-GeoL has already been deployed in production at Baidu Maps since April 2021, which significantly benefits the performance of various downstream tasks. This demonstrates that ERNIE-GeoL can serve as a fundamental backbone for a wide range of geo-related tasks.

The novel coronavirus disease (COVID-19) has crushed daily routines and is still rampaging through the world. Existing solution for nonpharmaceutical interventions usually needs to timely and precisely select a subset of residential urban areas for containment or even quarantine, where the spatial distribution of confirmed cases has been considered as a key criterion for the subset selection. While such containment measure has successfully stopped or slowed down the spread of COVID-19 in some countries, it is criticized for being inefficient or ineffective, as the statistics of confirmed cases are usually time-delayed and coarse-grained. To tackle the issues, we propose C-Watcher, a novel data-driven framework that aims at screening every neighborhood in a target city and predicting infection risks, prior to the spread of COVID-19 from epicenters to the city. In terms of design, C-Watcher collects large-scale long-term human mobility data from Baidu Maps, then characterizes every residential neighborhood in the city using a set of features based on urban mobility patterns. Furthermore, to transfer the firsthand knowledge (witted in epicenters) to the target city before local outbreaks, we adopt a novel adversarial encoder framework to learn “city-invariant” representations from the mobility-related features for precise early detection of high-risk neighborhoods, even before any confirmed cases known, in the target city. We carried out extensive experiments on C-Watcher using the real-data records in the early stage of COVID-19 outbreaks, where the results demonstrate the efficiency and effectiveness of C-Watcher for early detection of high-risk neighborhoods from a large number of cities.

Point of interest auto-completion (POI-AC) is a featured function in the search engine of many Web mapping services. This function keeps suggesting a dynamic list of POIs as a user types each character, and it can dramatically save the effort of typing, which is quite useful on mobile devices. Existing approaches on POI-AC for industrial use mainly adopt various learning to rank (LTR) models with handcrafted features and even historically clicked POIs are taken into account for personalization. However, these prior arts tend to reach performance bottlenecks as both heuristic features and search history of users cannot directly model personal input habits. In this paper, we present an end-to-end neural-based framework for POI-AC, which has been recently deployed in the search engine of Baidu Maps, one of the largest Web mapping applications with hundreds of millions monthly active users worldwide. In order to establish connections among users, their personal input habits, and correspondingly interested POIs, the proposed framework (abbr. P3AC) is composed of three components, i.e., a multi-layer Bi-LSTM network to adapt to personalized prefixes, a CNN-based network to model multi-sourced information on POIs, and a triplet ranking loss function to optimize both personalized prefix embeddings and distributed representations of POIs. We first use large-scale real-world search logs of Baidu Maps to assess the performance of P3AC offline measured by multiple metrics, including Mean Reciprocal Rank (MRR), Success Rate (SR), and normalized Discounted Cumulative Gain (nDCG). Extensive experimental results demonstrate that it can achieve substantial improvements. Then we decide to launch it online and observe that some other critical indicators on user satisfaction, such as the average number of keystrokes and the average typing speed at keystrokes in a POI-AC session, which significantly decrease as well. In addition, we have released both the source codes of P3AC and the experimental data to the public for reproducibility tests.

The constrained outbreak of COVID-19 in Mainland China has recently been regarded as a successful example of fighting this highly contagious virus. Both the short period (in about three months) of transmission and the sub-exponential increase of confirmed cases in Mainland China have proved that the Chinese authorities took effective epidemic prevention measures, such as case isolation, travel restrictions, closing recreational venues, and banning public gatherings. These measures can, of course, effectively control the spread of the COVID-19 pandemic. Meanwhile, they may dramatically change the human mobility patterns, such as the daily transportation-related behaviors of the public. To better understand the impact of COVID-19 on transportation-related behaviors and to provide more targeted anti-epidemic measures, we use the huge amount of human mobility data collected from Baidu Maps, a widely-used Web mapping service in China, to look into the detail reaction of the people there during the pandemic. To be specific, we conduct data-driven analysis on transportation-related behaviors during the pandemic from the perspectives of 1) means of transportation, 2) type of visited venues, 3) check-in time of venues, 4) preference on "origin-destination'' distance, and 5) "origin-transportation-destination'' patterns. For each topic, we also give our specific insights and policy-making suggestions. Given that the COVID-19 pandemic is still spreading in more than 200 overseas countries, infecting millions of people worldwide, the insights and suggestions provided here may help fight COVID-19.

The value assessment of private properties is an attractive but challenging task which is widely concerned by a majority of people around the world. A prolonged topic among us is "how much is my house worth?". To answer this question, most experienced agencies would like to price a property given the factors of its attributes as well as the demographics and the public facilities around it. However, no one knows the exact prices of these factors, especially the values of public facilities which may help assess private properties. In this paper, we introduce our newly launched project "Monopoly" (named after a classic board game) in which we propose a distributed approach for revaluing private properties by learning to price public facilities (such as hospitals, schools, and metros) with the large-scale urban data we have accumulated via Baidu Maps. To be specific, our method organizes many points of interest (POIs) into an undirected weighted graph and formulates multiple factors including the virtual prices of surrounding public facilities as adaptive variables to parallelly estimate the housing prices we know. Then the prices of both public facilities and private properties can be iteratively updated according to the loss of prediction until convergence. We have conducted extensive experiments with the large-scale urban data of several metropolises in China. Results show that our approach outperforms several mainstream methods with significant margins. Further insights from more in-depth discussions demonstrate that the "Monopoly" is an innovative application in the interdisciplinary field of business intelligence and urban computing, and it will be beneficial to tens of millions of our users for investments and to the governments for urban planning as well as taxation.