Related papers: A class of hopping patterns with minimal collision…
We propose in this paper a minimal speed-based pedestrian model for which particle dynamics are intrinsically collision-free. The speed model is an optimal velocity function depending on the agent length (i.e.\ particle diameter), maximum…
Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better motion planning. The method is built upon the basis of the…
In a singular potential setting, we generalize a method which allows to show that minimizers under topological constraints of the action functional (or of the Maupertuis') are collision-free. This methods applies to $3$-dimensional problems…
We consider the optimal conduction path of the one-dimensional variable-range hopping problem. We describe a hierarchical procedure for constructing the path which is in excellent agreement with numerical results obtained from a percolation…
An important application of intelligent vehicles is advance detection of dangerous events such as collisions. This problem is framed as a problem of optimal alarm choice given predictive models for vehicle location and motion. Techniques…
In cognitive radio networks (CRNs), establishing a communication link between a pair of secondary users (SUs) requires them to rendezvous on a common channel which is not occupied by primary users (PUs). Under time-varying PU traffic,…
We study a one-dimensional exclusion process with a fixed jump length $I \ge 1$ in which a particle may advance or retreat $I$ sites provided all intermediate sites are vacant, with hopping rates of Arrhenius type depending on the local…
This paper explores the partition properties of roller coaster permutations, a class of permutations characterized by maximizing the number of alternating runs in all subsequences. We establish a connection between the structure of these…
In Euclidean space there is a trivial upper bound on the maximum length of a compound "walk" built up of variable-length jumps, and a considerably less trivial lower bound on its minimum length. The existence of this non-trivial lower bound…
Building upon the success of optimal transport metrics defined for single collinear jets, we develop a multi-scale framework that models entire collider events as distributions on the manifold of their constituent jets, which are themselves…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…
A set of segments in the plane may form a Euclidean TSP tour or a matching, among others. Optimal TSP tours as well as minimum weight perfect matchings have no crossing segments, but several heuristics and approximation algorithms may…
We consider the problem of detecting jumps in an otherwise smoothly evolving trend whilst the covariance and higher-order structures of the system can experience both smooth and abrupt changes over time. The number of jump points is allowed…
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control. Static as well as moving obstacles are considered. Central…
We consider the optimal stopping of a class of spectrally negative jump diffusions. We state a set of conditions under which the value is shown to have a representation in terms of an ordinary nonlinear programming problem. We establish a…
We consider systems of "pinned balls," i.e., balls that have fixed positions and pseudo-velocities. Pseudo-velocities change according to the same rules as those for velocities of totally elastic collisions between moving balls. The times…
Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot control. Real-time planning with full body dynamics over the entire jumping trajectory presents unsolved challenges in computation burden. In this…
In this technical report, we analyze the performance of an interference-aware opportunistic relay selection protocol for multi-hop line networks which is based on the following simple rule: a node always transmits if it has a packet, except…