Related papers: Rowing and the Same-Sum Problem Have Their Moments

We study self-propulsion (or locomotion) of a robot (or an underwater vehicle) in an inviscid incompressible fluid. The robot's body is rigid, while its locomotion ability is due to an internal actuator, which can perform controlled…

We consider the nonholonomic systems of $n$ homogeneous balls $\mathbf B_1,\dots,\mathbf B_n$ with the same radius $r$ that are rolling without slipping about a fixed sphere $\mathbf S_0$ with center $O$ and radius $R$. In addition, it is…

Fish swim by undulating their bodies. These propulsive motions require coordinated shape changes of a body that interacts with its fluid environment, but the specific shape coordination that leads to robust turning and swimming motions…

This paper introduces a framework that utilizes the Safe Screening technique to accelerate the optimization process of the Unbalanced Optimal Transport (UOT) problem by proactively identifying and eliminating zero elements in the sparse…

Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic systems, such as micro- and nano-scale robots, soft robots,…

We present 1349 families of Newtonian periodic planar three-body orbits with unequal mass and zero angular momentum and the initial conditions in case of isosceles collinear configurations. These 1349 families of the periodic collisionless…

In exact sparse optimization problems on Rd (also known as sparsity constrained problems), one looks for solution that have few nonzero components. In this paper, we consider problems where sparsity is exactly measured either by the…

We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…

This paper presents a novel method to quantify seafarers' good seamanship during navigation scenarios with multi-vessel encounters -- in open and confined waters --, and to compute COLREG's-compliant trajectories for avoiding collision and…

Flow matching policies learn continuous velocity fields that transport noise to actions, enabling fast deterministic inference for robot manipulation. However, standard training optimizes a pointwise velocity objective while inference…

In the Equal-Subset-Sum problem, we are given a set $S$ of $n$ integers and the problem is to decide if there exist two disjoint nonempty subsets $A,B \subseteq S$, whose elements sum up to the same value. The problem is NP-complete. The…

We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to conservative, congested equilibria.…

We consider a mechanical system consisting of an infinite rod (a straight line) and a ball (a massless point) on the plane. The rod rotates uniformly around one of its points. The ball is reflected elastically when colliding with the rod…

This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…

We develop an algorithmic framework for solving convex optimization problems using no-regret game dynamics. By converting the problem of minimizing a convex function into an auxiliary problem of solving a min-max game in a sequential…

We consider a zero-sum stochastic game for continuous-time Markov chain with countable state space and unbounded transition and pay-off rates. The additional feature of the game is that the controllers together with taking actions are also…

We revisit the problem of solving two-player zero-sum games in the decentralized setting. We propose a simple algorithmic framework that simultaneously achieves the best rates for honest regret as well as adversarial regret, and in addition…

In each rowing sport, the oars have their very own characteristics most of the time selected through a long time experience. Here we address experimentally and theoretically the problem of rowing efficiency as function of row lengths and…

In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…

This paper is devoted to studying obstacle avoiding patterns and cohesiveness of fish school. First, we introduce a model of stochastic differential equations (SDEs) for describing the process of fish school's obstacle avoidance. Second, on…