Related papers: Circumnavigation Using Distance Measurements (Exte…
A bound state in the continuum (BIC) is an unusual localized state that is embedded in a continuum of extended states. Here, we present the general condition for BICs to arise from wave equation separability and show that the directionality…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
By using directional distance sensors that have unknown locations, this paper proposes a method of estimating the shape of a location-unknown target object $T$ moving with unknown speed on an unknown straight line trajectory. Regardless of…
This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…
A covariant and invariant theory of navigation in curved space-time with respect to electromagnetic beacons is written in terms of J. L. Synge's two-point invariant world function. Explicit equations are given for navigation in space-time…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
Localization is an important issue for Wireless Sensor Networks (WSN). A mobile sensor may change its position rapidly and thus require localization calls frequently. A localization may require network wide information and increase traffic…
We discuss a model of repeated measurements of position in a quantum system which is monitored for a finite amount of time with a finite instrumental error. In this framework we recover the optimum monitoring of a harmonic oscillator…
In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introducing an initial stabilizing control policy as the baseline of…
In this paper, we prove that two different observers don't equally measure the distance between two points A and B. For this, we introduce some postulates and obtain a new formula to show distance between A and B. In this formula, radius of…
Distance control in many-particle systems is a fundamental problem in nature. This becomes particularly relevant in systems of active agents, which can sense their environment and react by adjusting their direction of motion. We employ…
We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile agents to minimize an uncertainty metric in a given mission space. For a single agent in a one-dimensional…
In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…
We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical…
We investigate the convergence towards periodic orbits in discrete dynamical systems. We examine the probability that a randomly chosen point converges to a particular neighborhood of a periodic orbit in a fixed number of iterations, and we…
Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in the last decades. One of the central challenges of manipulation is partial observability, as the agent usually does…
The ability to track a moving vehicle is of crucial importance in numerous applications. The task has often been approached by the importance sampling technique of particle filters due to its ability to model non-linear and non-Gaussian…
Consider a rigid body, $\mathscr B$, constrained to move by translational motion in an unbounded viscous liquid. The driving mechanism is a given distribution of time-periodic velocity field, $\bfv_*$, at the interface body-liquid, of…
We introduce a novel method for controlling a motion sequence using an arbitrary temporal control sequence using temporal alignment. Temporal alignment of motion has gained significant attention owing to its applications in motion control…