Related papers: A class of hopping patterns with minimal collision…
The hopping pattern for D2D Discovery are investi- gated. We propose three metrics for hopping pattern performance evaluation: column period, maximal collision ratio, maximal con- tinual collision number. A class of hopping patterns is…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
We revisit the computation of a probability of collision in the context of automotive collision avoidance (also referred to as conflict detection in other contexts). After reviewing existing approaches to the definition and computation of a…
This paper examines the optimal velocity follow-the-leader dynamics, a microscopic traffic model, and explores different aspects of the dynamical model, with particular emphasis on collision analysis. More precisely, we present a rigorous…
A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Protocol sequences are used in channel access for the multiple-access collision channel without feedback. A new construction of protocol sequences with a guarantee of worst-case system throughput is proposed. The construction is based on…
Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer from mode collapse, where only the most likely mode is…
Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different…
We develop a new metric for quantifying end-to-end throughput in multihop wireless networks, which we term random access transport capacity, since the interference model presumes uncoordinated transmissions. The metric quantifies the…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
The Hybrid Minimum Principle (HMP) is established for the optimal control of deterministic hybrid systems with both autonomous and controlled switchings and jumps where state jumps at the switching instants are permitted to be accompanied…
We describe a new framework for fitting jump models to a sequence of data. The key idea is to alternate between minimizing a loss function to fit multiple model parameters, and minimizing a discrete loss function to determine which set of…
We show that in Euclidean field theories that have bounce solutions, the bounce with the least action is the global minimum of the action in an open space of field configurations. A rigorous upper bound on the minimal bounce action can…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
This paper proposes a new strategy for collision avoidance system leveraging Time-to-Collision (TTC) metrics for handling cut-in scenarios, which are particularly challenging for autonomous vehicles (AVs). By integrating a deep learning…
Inspired by the Boltzmann kinetics, we propose a collision-based dynamics with a Monte Carlo solution algorithm that approximates the solution of the multi-marginal optimal transport problem via randomized pairwise swapping of sample…
This paper addresses the problem of quickest detection of a change in the maximal coherence between columns of a $n\times p$ random matrix based on a sequence of matrix observations having a single unknown change point. The random matrix is…
This paper concerns two algorithms for solving optimal control problems with hybrid systems. The first algorithm aims at hybrid systems exhibiting sliding modes. The first algorithm has several features which distinguishes it from the other…