Related papers: The Automatic Galaxy Collision Software
To achieve complete autonomous vehicles, it is crucial for autonomous vehicles to communicate and interact with their surrounding vehicles. Especially, since the lane change scenarios do not have traffic signals and traffic rules, the…
We describe the development of a system for an automated, iterative, real-time classification of transient events discovered in synoptic sky surveys. The system under development incorporates a number of Machine Learning techniques, mostly…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
Motivated by the need for realistic, dynamically self-consistent, evolving galaxy models that avoid the complexity of full, and zoom-in, cosmological simulations, we have developed NEXUS, an integral framework to create and evolve synthetic…
We consider the policy gradient adaptive control (PGAC) framework, which adaptively updates a control policy in real time, by performing data-based gradient descent steps on the linear quadratic regulator cost. This method has empirically…
We propose an integrated behavior and motion planning framework for the lane-merging problem. The behavior planner combines search-based planning with game theory to model vehicle interactions and plan multi-vehicle trajectories. Inspired…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
We discuss the performance of direct summation codes used in the simulation of astrophysical stellar systems on highly distributed architectures. These codes compute the gravitational interaction among stars in an exact way and have an…
The statistical description of Giant Molecular Cloud (GMC) properties relies heavily on the performance of automatic identification algorithms, which are often seriously affected by the survey design. The algorithm we designed, SCIMES…
Over 34,000 objects bigger than 10 cm in length are known to orbit Earth. Among them, only a small percentage are active satellites, while the rest of the population is made of dead satellites, rocket bodies, and debris that pose a…
By sharing local sensor information via Vehicle-to-Vehicle (V2V) wireless communication networks, Cooperative Adaptive Cruise Control (CACC) is a technology that enables Connected and Automated Vehicles (CAVs) to drive autonomously on the…
We present the first steps of interaction spaces theory, a universal mathematical theory of complex systems which is able to embed cellular automata, agent based models, master equation based models, stochastic or deterministic, continuous…
In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any decoupling.…
We present an exact solution of a probabilistic cellular automaton for traffic with open boundary conditions, e.g. cars can enter and leave a part of a highway with certain probabilities. The model studied is the asymmetric exclusion…
A new scheme that tightly couples kinetic turbulence codes across a spatial interface is introduced. This scheme evolves from considerations of competing strategies and down-selection. It is found that the use of a composite kinetic…
Active matter physics and swarm robotics have provided powerful tools for the study and control of ensembles driven by internal sources. At the macroscale, controlling swarms typically utilizes significant memory, processing power, and…
In this paper, we present a learning-based tracking controller based on Gaussian processes (GP) for collision avoidance of multi-agent systems where the agents evolve in the special Euclidean group in the space SE(3). In particular, we use…
A fully parallel version of the contact dynamics (CD) method is presented in this paper. For large enough systems, 100% efficiency has been demonstrated for up to 256 processors using a hierarchical domain decomposition with dynamic load…
Autonomous racing creates challenging control problems, but Model Predictive Control (MPC) has made promising steps toward solving both the minimum lap-time problem and head-to-head racing. Yet, accurate models of the system are necessary…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…