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It is shown that the geometry of parallelizable manifolds can be extended to non-parallelizable ones by extending the connection that a global frame field would define on a parallelizable manifold to a connection that a singular frame field…
Experimental results of towing a cylinder through a dense suspension of cornstarch and sucrose-water are presented. Focus is placed on the jamming fronts that exist in such systems. The literature has concentrated on the propagation of the…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
In this paper, we introduce a new method for the task of interaction transfer. Given an example interaction between a source object and an agent, our method can automatically infer both surface and spatial relationships for the agent and…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
We introduce a nonlinear cruise controller that is fully decentralized (by vehicle) and uses spacing and speed measurements from the preceding and following vehicles to decide on the appropriate control action (acceleration) for each…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…
A beacon is a point-like object which can be enabled to exert a magnetic pull on other point-like objects in space. Those objects then move towards the beacon in a greedy fashion until they are either stuck at an obstacle or reach the…
Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…
Aerial Vehicles follow a guided approach based on Latitude, Longitude and Altitude. This information can be used for calculating the status of maneuvering for the aerial vehicles along the line of trajectory. This is a binary classification…
We generalize the definition of convolution of vectors and tensors on the 2-sphere, and prove that it commutes with differential operators. Moreover, vectors and tensors that are normal/tangent to the spherical surface remain so after the…
We provide criteria for deciding whether a given planar curve is an image of a given spatial curve, obtained by a central or a parallel projection with unknown parameters. These criteria reduce the projection problem to a certain…
Many driver assistance systems such as Adaptive Cruise Control require the identification of the closest vehicle that is in the host vehicle's path. This entails an assignment of detected vehicles to the host vehicle path or neighboring…
We provide a general theory for parallel transport on non-collapsed ${\sf RCD}$ spaces obtaining both existence and uniqueness results. Our theory covers the case of geodesics and, more generally, of curves obtained via the flow of…
A trajectory isomorphism between the two Newtonian fixed center problem in the sphere and two associated planar two fixed center problems is constructed by performing two simultaneous gnomonic projections in $S^2$. This isomorphism converts…
In urban driving scenarios, forecasting future trajectories of surrounding vehicles is of paramount importance. While several approaches for the problem have been proposed, the best-performing ones tend to require extremely detailed input…
The theory of linear transports along paths in vector bundles, generalizing the parallel transports generated by linear connections, is developed. The normal frames for them are defined as ones in which their matrices are the identity…
A non-autonomous version of the standard map with a periodic variation of the parameter is introduced and studied. Symmetry properties in the variables and parameters of the map are found and used to find relations between rotation numbers…