Related papers: Articulated arm and special multi-flags (corrected…
We study the problem of finding the most mutually correlated arms among many arms. We show that adaptive arms sampling strategies can have significant advantages over the non-adaptive uniform sampling strategy. Our proposed algorithms rely…
We show the existence of additive kinematic formulas for general flag area measures, which generalizes a recent result by Wannerer. Building on previous work by the second named author, we introduce an algebraic framework to compute these…
Using an equation of motion for a self-gravitating filament, we show how galactic spiral arms might be created and sustained. We find that the combination of differential rotation of the galactic disk and the self-gravity of the arm (as…
In this paper, we present a method for simultaneous articulation model estimation and segmentation of an articulated object in RGB-D images using human hand motion. Our method uses the hand motion in the processes of the initial…
Interfering two- and three-arm spiral patterns have previously been inferred to exist in many galaxies and also in numerical simulations, and invoked to explain important dynamical properties, such as lack of symmetry, kinks in spiral arms,…
The purpose of this work is twofold: to present mathematical expressions for the kinematics of an articulated mechanism and to perform numerical experiments with the implemented code. The system of rigid parts is made of two slender bars…
There is evidence that the distribution of suspected cosmic ray sources are associated with the spiral arm structure of galaxies. It is yet not clearly understood what effect such a cosmic ray source distribution has on the particle…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…
Manipulating articulated objects requires multiple robot arms in general. It is challenging to enable multiple robot arms to collaboratively complete manipulation tasks on articulated objects. In this paper, we present $\textbf{V-MAO}$, a…
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…
The combinatorial stochastic semi-bandit problem is an extension of the classical multi-armed bandit problem in which an algorithm pulls more than one arm at each stage and the rewards of all pulled arms are revealed. One difference with…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
In this paper, we present a general theory of motion planning for kinematic systems. This theory has been developed for long by one of the authors in a previous series of papers. It is mostly based upon concepts from subriemannian geometry.…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…
A set of many identical interacting agents obeying a global additive constraint is considered. Under the hypothesis of equiprobability in the high-dimensional volume delimited in phase space by the constraint, the statistical behavior of a…
We formulate the problem of sampling and recovering clustered graph signal as a multi-armed bandit (MAB) problem. This formulation lends naturally to learning sampling strategies using the well-known gradient MAB algorithm. In particular,…
Spiral arms are the defining features of broad morphological classes of disc galaxies, but their nature and influence on galaxy evolution is still under debate. A key diagnostic for their nature is the spiral arm pattern speed: the radial…