Related papers: A class of hopping patterns with minimal collision…
This paper proposes a methodology for optimizing a frequency-hopping network that uses continuous-phase frequency-shift keying and adaptive capacity-approaching channel coding. The optimization takes into account the spatial distribution of…
Ball and hoop system is a well-known model for the education of linear control systems. In this paper, we have a look at this system from another perspective and show that it is also suitable for demonstration of more advanced control…
This paper analyzes the use of variable speed limits to optimize travel time reliability for commuters. The investigation focuses on a traffic corridor with a bottleneck subject to the capacity drop phenomenon. The optimization criterion is…
We propose a microscopic traffic model where the update velocity is determined by the deceleration capacity and response time. It is found that there is a class of collisions that cannot be distinguished by simply comparing the stop…
Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…
In this paper we investigate real-time, dynamic traffic optimization in railway systems. In order to enable practical solution times, we operate the optimizer in a receding horizon fashion and with optimization horizons that are shorter…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
We prove by example that the number of elastic collisions of $n$ balls of equal mass and equal size in $d$-dimensional space can be greater than $n^3/27$ for $n\geq 3$ and $d\geq 2$. The previously known lower bound was of order $n^2$.
A method is presented that can find the global minimum of very complex condensed matter systems. It is based on the simple principle of exploring the configurational space as fast as possible and of avoiding revisiting known parts of this…
Perception serves as a critical component in the functionality of autonomous agents. However, the intricate relationship between perception metrics and robotic metrics remains unclear, leading to ambiguity in the development and fine-tuning…
Protocol sequences are used for channel access in the collision channel without feedback. Each user accesses the channel according to a deterministic zero-one pattern, called the protocol sequence. In order to minimize fluctuation of…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
In this paper we propose a wide class of truncated stochastic approximation procedures with moving random bounds. While we believe that the proposed class of procedures will find its way to a wider range of applications, the main motivation…
The crossing number of a graph is the minimum number of crossings in a drawing of the graph in the plane. Our main result is that every graph $G$ that does not contain a fixed graph as a minor has crossing number $O(\Delta n)$, where $G$…
Several scenarios used in teaching feature a rolling motion with slipping that transitions to one without through friction with the ground. We summarise these transitions by introducing an unknown impulse that is transferred to the ground.…
In this paper, we identify and analyze the requirements to design a new routing link metric for wireless multihop networks. Considering these requirements, when a link metric is proposed, then both the design and implementation of the link…
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…
In machine learning, the selection of a promising model from a potentially large number of competing models and the assessment of its generalization performance are critical tasks that need careful consideration. Typically, model selection…
A micropolar cohesive damage model for delamination of composites is proposed. The main idea is to embed micropolarity, which brings an additional layer of kinematics through the micro-rotation degrees of freedom within a continuum model to…