Related papers: The Automatic Galaxy Collision Software
We propose a Stochastic MPC (SMPC) formulation for autonomous driving at traffic intersections which incorporates multi-modal predictions of surrounding vehicles for collision avoidance constraints. The multi-modal predictions are obtained…
Different models of dark matter can alter the distribution of mass in galaxy clusters in a variety of ways. However, so can uncertain astrophysical feedback mechanisms. Here we present a Machine Learning method that ''learns'' how the…
The 2D3V Aspherical Particle-in-Cell (APIC) code is developed for modeling of interactions of non-spherical dust grains with plasmas. It simulates the motion of plasma electrons and ions in a self-consistent electric field of…
Cooperative Adaptive Cruise Control (CACC) is a fundamental connected vehicle application that extends Adaptive Cruise Control by exploiting vehicle-to-vehicle (V2V) communication. CACC is a crucial ingredient for numerous autonomous…
Cellular regulatory dynamics is driven by large and intricate networks of interactions at the molecular scale, whose sheer size obfuscates understanding. In light of limited experimental data, many parameters of such dynamics are unknown,…
The significance of the automatic ground collision avoidance system (Auto-GCAS) has been proven by considering the fatal crashes that have occurred over decades. Even though extensive efforts have been put forth to address the ground…
In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is…
Galaxy simulations have come a long way from the early days of simple N-body calculations, which considered only gravitational interactions, to the complex, multi-physics models used today. Beginning with initial conditions representative…
Making good predictions of a physical system using a computer code requires the inputs to be carefully specified. Some of these inputs called control variables have to reproduce physical conditions whereas other inputs, called parameters,…
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…
Learning uncertain dynamics models using Gaussian process~(GP) regression has been demonstrated to enable high-performance and safety-aware control strategies for challenging real-world applications. Yet, for computational tractability,…
In a Keplerian system, a large number of bodies orbit a central mass. Accretion disks, protoplanetary disks, asteroid belts, and planetary rings are examples. Simulations of these systems require algorithms that are computationally…
Multi-access point coordination (MAPC) is a key technology for enhancing throughput in next-generation Wi-Fi within dense overlapping basic service sets. However, existing MAPC protocols rely on static, protocol-defined rules, which limits…
To determine the importance of merging galaxies to galaxy evolution, it is necessary to design classification tools that can identify different types and stages of merging galaxies. Previously, using GADGET-3/SUNRISE simulations of merging…
A new motion planning framework for automated highway merging is presented in this paper. To plan the merge and predict the motion of the neighboring vehicle, the ego automated vehicle solves a joint optimization of both vehicle costs over…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…
Accurate lane change prediction can reduce potential accidents and contribute to higher road safety. Adaptive cruise control (ACC), lane departure avoidance (LDA), and lane keeping assistance (LKA) are some conventional modules in advanced…
We describe an application of Berger and Colella's structured adaptive mesh refinement algorithm to the field of cosmological astrophysics. Simulations in this area must include not just a gaseous component which follows the hyperbolic…
Long-tail and rare event problems become crucial when autonomous driving algorithms are applied in the real world. For the purpose of evaluating systems in challenging settings, we propose a generative framework to create safety-critical…