Related papers: A Morphological Adaptation Approach to Path Planni…
Sampling-based planning is the predominant paradigm for motion planning in robotics. Most sampling-based planners use a global random sampling scheme to guarantee probabilistic completeness. However, most schemes are often inefficient as…
Sampling-based algorithms are widely used for motion planning in high-dimensional configuration spaces. However, due to low sampling efficiency, their performance often diminishes in complex configuration spaces with narrow corridors.…
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…
Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
The paper investigates the problem of path planning techniques for multi-copter uncrewed aerial vehicles (UAV) cooperation in a formation shape to examine surrounding surfaces. We first describe the problem as a joint objective cost for…
We present a molecular simulation method to simultaneously find multiple transition pathways, and their associated free-energy profiles. The scheme extends path-metadynamics (PMD) [Phys. Rev. Lett. 109, 020601 (2012)] with multiple paths…
In this work, we develop a distributed source routing algorithm for topology discovery suitable for ISP transport networks, that is however inspired by opportunistic algorithms used in ad hoc wireless networks. We propose a plug-and-play…
This paper presents a density-based topology optimization method for designing 3D thin-walled structures with adaptive meshing. Uniform wall thickness is achieved by simultaneously constraining the minimum and maximum feature sizes using…
Transitions between different conformational states are ubiquitous in proteins, being involved in signaling, catalysis and other fundamental activities in cells. However, modeling those processes is extremely difficult, due to the need of…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
In this paper we analyze how Transformation Optics recipes can be applied to control the flow of surface plasmons on metal-dielectric interfaces. We study in detail five different examples: a cylindrical cloak, a beam shifter, a right-angle…
This paper presents a spline-based parameterisation framework for plane graphs. The plane graph is characterised by a collection of curves forming closed loops that fence-off planar faces which have to be parameterised individually. Hereby,…
This paper presents mathematical results in support of the methodology of the probabilistic learning on manifolds (PLoM) recently introduced by the authors, which has been used with success for analyzing complex engineering systems. The…
Our research introduces a modular motion planning framework for autonomous vehicles using a sampling-based trajectory planning algorithm. This approach effectively tackles the challenges of solution space construction and optimization in…
While many Particle Swarm Optimization (PSO) algorithms only use fitness to assess the performance of particles, in this work, we adopt Surprisingly Popular Algorithm (SPA) as a complementary metric in addition to fitness. Consequently,…
The effective mixing behavior of solutes in porous media is fundamentally connected to the development of a local mixing interface between the two initial solutions, which is characterized by a complex lamellar structure. The deformation of…
Slime mould of Physarum polycephalum is a large cell exhibiting rich spatial non-linear electrical characteristics. We exploit the electrical properties of the slime mould to implement logic gates using a flexible hardware platform designed…
Acquiring plausible pathways on high-dimensional structural distributions is beneficial in several domains. For example, in the drug discovery field, a protein conformational pathway, i.e. a highly probable sequence of protein structural…