Related papers: A class of hopping patterns with minimal collision…
Collision detection is a critical functionality for robotics. The degree to which objects collide cannot be represented as a continuously differentiable function for any shapes other than spheres. This paper proposes a framework for…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
Optimization-based approaches such as Model Predictive Control (MPC) are promising approaches in proactive control for safety-critical applications with changing environments such as automated driving systems. However, the computational…
We introduce a new pattern recognition algorithm for track finding in High Energy Physics Experiments based on an extension of the Hough Transform to multiple dimensions. A remarkable property of this algorithm is that the execution time is…
A robot making contact with an environment or human presents potential safety risks, including excessive collision force. While experiments on the effect of robot inertia, relative velocity, and interface stiffness on collision are in…
We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and…
This work presents a sequential convex program method to compute fuel-optimal collision avoidance maneuvers for long-term encounters. The low-thrust acceleration model is used to account for the control, but the method can compute…
A fundamental characteristic of hadron colliders is the abundant production of jets, which then are studied to learn about hard QCD, the proton structure, or nonperturbative effects. In the following the latest results and developments from…
This paper develops upper bounds on the end-to-end transmission capacity of multi-hop wireless networks. Potential source-destination paths are dynamically selected from a pool of randomly located relays, from which a closed-form lower…
In this study, we conducted an experiment to estimate $\pi$ using body-to-body and body-to-wall collisions. By geometrically analyzing the system's motion, we first review how the collision count corresponds to the digits of $\pi$. This…
Interaction between vehicles and pedestrians is seen in many areas such as crosswalks and intersections. In this paper, we study a totally asymmetric simple exclusion process with a bottleneck at a boundary caused by an interaction. Due to…
In this paper we will estimate the main parameters of some evaluation codes which are known as projective parameterized codes. We will find the length of these codes and we will give a formula for the dimension in terms of the Hilbert…
We study the asymptotics for jump-penalized least squares regression aiming at approximating a regression function by piecewise constant functions. Besides conventional consistency and convergence rates of the estimates in $L^2([0,1))$ our…
We propose a hierarchy of kinetic and macroscopic models for a system consisting of a large number of interacting pedestrians. The basic interaction rules are derived from earlier work where the dangerousness level of an interaction with…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
Randomized higher-order computation can be seen as being captured by a lambda calculus endowed with a single algebraic operation, namely a construct for binary probabilistic choice. What matters about such computations is the probability of…
We develop a convergence-rate analysis of momentum with cyclical step-sizes. We show that under some assumption on the spectral gap of Hessians in machine learning, cyclical step-sizes are provably faster than constant step-sizes. More…
In this paper, we estimate the number of event topologies that have the potential to be produced in $pp$ collisions at the Large Hadron Collider (LHC) without violating kinematic and other constraints. We use numerical calculations and…
Block coherence of matrices plays an important role in analyzing the performance of block compressed sensing recovery algorithms (Bajwa and Mixon, 2012). In this paper, we characterize two block coherence metrics: worst-case and average…
We study, via combinatorial enumeration, the probability of k-hop connection between two nodes in a wireless multi-hop network. This addresses the difficulty of providing an exact formula for the scaling of hop counts with Euclidean…