Related papers: High-speed Flight in an Ergodic Forest
The problem of kinodynamic multi-goal motion planning is to find a trajectory over multiple target locations with an apriori unknown sequence of visits. The objective is to minimize the cost of the trajectory planned in a cluttered…
Effective locomotion in nature happens by transitioning across multiple modes (e.g., walk, run, climb). Despite this, far more mechanistic understanding of terrestrial locomotion has been on how to generate and stabilize around…
The margins within the geographic range of species are often specific in terms of ecological and evolutionary processes, and can strongly influence the species' reaction to climate change. One of the frequently observed features at range…
Aeroelastic structures, from insect wings to wind turbine blades, experience transient unsteady aerodynamic loads that are coupled to their motion. Effective real-time control of flexible structures relies on accurate and efficient…
Individuals traversing challenging obstacles are faced with a decision: they can adopt traversal strategies that minimally disrupt their normal locomotion patterns or they can adopt strategies that substantially alter their gait, conferring…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
We study statistical properties of a family of maps acting in the space of integer valued sequences, which model dynamics of simple deterministic traffic flows. We obtain asymptotic (as time goes to infinity) properties of trajectories of…
Macroscopic traffic flow is stochastic, but the physics-informed deep learning methods currently used in transportation literature embed deterministic PDEs and produce point-valued outputs; the stochasticity of the governing dynamics plays…
Ergodic search enables optimal exploration of an information distribution while guaranteeing the asymptotic coverage of the search space. However, current methods typically have exponential computation complexity in the search space…
This paper investigates stability analysis of flapping flight. Due to time-varying aerodynamic forces, such systems do not display fixed points of equilibrium. The problem is therefore approached via a limit cycle analysis based on Floquet…
We consider the motion of a particle along the geodesic lines of the Poincar\`e half-plane. The particle is specularly reflected when it hits randomly-distributed obstacles that are assumed to be motionless. This is the hyperbolic version…
In this paper, we present an innovative risk-bounded motion planning methodology for stochastic multi-agent systems. For this methodology, the disturbance, noise, and model uncertainty are considered; and a velocity obstacle method is…
Self-organization creates new order and shifts sub-boundaries while reorganizing energy and entropy within a control volume. This article examines pathway selection and tests whether maximizing the entropy generation rate can forecast…
This study aims to address the key challenge of obtaining a high-quality solution path within a short calculation time by generalizing a limited dataset. In the informed experience-driven random trees connect star (IERTC*) process, the…
Fast data generation based on Machine Learning has become a major research topic in particle physics. This is mainly because the Monte Carlo simulation approach is computationally challenging for future colliders, which will have a…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
Accessibility percolation is a new type of percolation problem inspired by evolutionary biology. To each vertex of a graph a random number is assigned and a path through the graph is called accessible if all numbers along the path are in…