Related papers: Rowing and the Same-Sum Problem Have Their Moments
The well known effect of the linear damping on the moving nonlinear Schr\"odinger soliton (even when there is a supply of energy via the spatially homogeneous driving) is to quench its momentum to zero. Surprisingly, the zero momentum does…
The problem of optimal microscopic swimming in a noisy environment is analyzed. A simplified model in which propulsion is generated by the relative motion of three spheres connected by immaterial links has been considered. We show that an…
Atmospheric powered descent guidance can be solved by successive convexification; however, its onboard application is impeded by the sharp increase in computation caused by nonlinear aerodynamic forces. The problem has to be converted into…
We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The…
Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to complete. However for…
Roll stabilization is a critical aspect of ship motion control, particularly for vessels operating in low-speed or zero-speed conditions, where traditional hydrodynamic fins lose their effectiveness. In this paper, we consider a roll…
We fully solve a sorting problem with heterogeneous firms and multiple heterogeneous workers whose skills are imperfect substitutes. We show that optimal sorting, which we call mixed and countermonotonic, is comprised of two regions. In the…
Many fishing vessels use forced labor, but identifying vessels that engage in this practice is challenging because few are regularly inspected. We developed a positive-unlabeled learning algorithm using vessel characteristics and movement…
Estimating unknown rotations from noisy measurements is an important step in SfM and other 3D vision tasks. Typically, local optimization methods susceptible to returning suboptimal local minima are used to solve the rotation averaging…
We consider the iterative solution of symmetric saddle point systems with a rank-deficient leading block. We develop two preconditioners that, under certain assumptions on the rank structure of the system, yield a preconditioned matrix with…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
We study mechanisms for wavenumber selection in a minimal model for run-and-tumble dynamics. We show that nonlinearity in tumbling rates induces the existence of a plethora of traveling- and standing-wave patterns, as well as a subtle…
We provide an algorithm for the simultaneous system identification and model predictive control of nonlinear systems. The algorithm has finite-time near-optimality guarantees and asymptotically converges to the optimal (non-causal)…
The paper analyzes the rotation averaging problem as a minimization problem for a potential function of the corresponding gradient system. This dynamical system is one generalization of the famous Kuramoto model on special orthogonal group…
We study the Stokes problem in a bounded planar domain $\Omega$ with a friction type boundary condition that switches between a slip and no-slip stage. Unlike our previous work [6], in the present paper the threshold value may depend on the…
We establish the existence, uniqueness, and $W^{1,2,p}$-regularity of solutions to fully-nonlinear, parabolic obstacle problems when the obstacle is the pointwise supremum of functions in $W^{1,2,p}$ and the nonlinear operator is required…
The Competing Bandits framework is a recently emerging area that integrates multi-armed bandits in online learning with stable matching in game theory. While conventional models assume that all players and arms are constantly available, in…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…