Related papers: Guaranteed Collision Detection With Toleranced Mot…
This paper presents a new multi-query motion planning algorithm for linear Gaussian systems with the goal of reaching a Euclidean ball with high probability. We develop a new formulation for ball-shaped ambiguity sets of Gaussian…
Interactive bodies collision detection and elimination is one of the most popular task nowadays. Collisions can be detected in different ways. Collision search using space voxelization is one of the most fast. This paper describes improved…
Simulating collisions of deformable objects is a fundamental yet challenging task due to the complexity of modeling solid mechanics and multi-body interactions. Existing data-driven methods often suffer from lack of equivariance to physical…
In machine learning, accurately predicting the probability that a specific input is correct is crucial for risk management. This process, known as uncertainty (or confidence) estimation, is particularly important in mission-critical…
Collision avoidance systems play a vital role in reducing the number of vehicle accidents and saving human lives. This paper extends the previous work using evolutionary neural networks for reactive collision avoidance. We are proposing a…
A new efficient approach for searching three-body periodic equal-mass collisionless orbits passing through Eulerian configuration is presented. The approach is based on a symmetry property of the solutions at the half period. Depending on…
Boundary detection is essential for a variety of computer vision tasks such as segmentation and recognition. In this paper we propose a unified formulation and a novel algorithm that are applicable to the detection of different types of…
Quantum physics allows an object to be detected even in the absence of photon absorption by the use of so-called interaction-free measurements. We provide a formulation of this protocol using a three-level system, where the object to be…
A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
Rapid advances in perception have enabled large pre-trained models to be used out of the box for transforming high-dimensional, noisy, and partial observations of the world into rich occupancy representations. However, the reliability of…
A topological theory initiated recently by the author uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion planning algorithms. The present paper studies random motion planning…
In robotics, a topological theory of motion planning was initiated by M. Farber. The multitasking motion planning problem is new and its theoretical part via topological complexity has hardly been developed, but the concrete implementations…
We study the smallest intersecting and enclosing ball problems in Euclidean spaces for input objects that are compact and convex. They link and unify many problems in computational geometry and machine learning. We show that both problems…
We present a method for the efficient processing of contact and collision in volumetric elastic models simulated using the Projective Dynamics paradigm. Our approach enables interactive simulation of tetrahedral meshes with more than half a…
As a contribution to the ongoing discussion of trajectories of spinless particles in spaces with torsion we show that the geometry of such spaces can be induced by embedding their curves in a euclidean space without torsion. Technically…
We present a novel approach to the detection and 3D pose estimation of objects in color images. Its main contribution is that it does not require any training phases nor data for new objects, while state-of-the-art methods typically require…
The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…
Understanding body part geometry is crucial for precise medical diagnostics. Curves effectively describe anatomical structures and are widely used in medical imaging applications related to cardiovascular, respiratory, and skeletal…