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Interstellar objects (ISOs) are likely representatives of primitive materials invaluable in understanding exoplanetary star systems. Due to their poorly constrained orbits with generally high inclinations and relative velocities, however,…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Autonomous navigation consists in an agent being able to navigate without human intervention or supervision, it affects both high level planning and low level control. Navigation is at the crossroad of multiple disciplines, it combines…
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose.…
We demonstrate analytically and numerically the existence of exact solitons in the form of double-kink and fractional-transform, supported by a symmetric transversally modulated defocusing nonlinearity acting as a psuedopotential combined…
In this paper, we propose a sampling-based motion planning algorithm that finds an infinite path satisfying a Linear Temporal Logic (LTL) formula over a set of properties satisfied by some regions in a given environment. The algorithm has…
The rise of parallel computing hardware has made it increasingly important to understand which nonlinear state space models can be efficiently parallelized. Recent advances like DEER (arXiv:2309.12252) and DeepPCR (arXiv:2309.16318) recast…
Successive quadratic approximations, or second-order proximal methods, are useful for minimizing functions that are a sum of a smooth part and a convex, possibly nonsmooth part that promotes regularization. Most analyses of iteration…
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinodynamic, i.e., it considers the full dynamics model of the…
We investigate the structure of SO(3)-invariant quantum systems which are composed of two particles with spins j_1 and j_2. The states of the composite spin system are represented by means of two complete sets of rotationally invariant…
This paper considers the problem of zero-shot safety guarantees for cascade dynamical systems. These are systems where a subset of the states (the inner states) affects the dynamics of the remaining states (the outer states) but not…
We study the transport properties of nonautonomous chaotic dynamical systems over a finite time duration. We are particularly interested in those regions that remain coherent and relatively non-dispersive over finite periods of time,…
We develop an interpolation-based framework for noisy linear systems with unknown system matrix with bounded norm (implying bounded growth or non-increasing energy), and bounded process noise energy. The proposed approach characterizes all…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
Einstein-Podolsky-Rosen steering is a manifestation of quantum correlations exhibited by quantum systems, that allows for entanglement certification when one of the subsystems is not characterized. Detecting steerability of quantum states…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
Pitts' proof-theoretic technique for uniform interpolation, which generates uniform interpolants from terminating sequent calculi, has only been applied to logics on an intuitionistic basis through single-succedent sequent calculi. We adapt…
Motion planning is an essential aspect of autonomous systems and robotics and is an active area of research. A recently-proposed sampling-based motion planning algorithm, termed 'Generalized Shape Expansion' (GSE), has been shown to possess…
Tensor interpolation is an essential step for tensor data analysis in various fields of application and scientific disciplines. In the present work, novel interpolation schemes for general, i.e., symmetric or non-symmetric, invertible…
This paper details a methodology to transcribe an optimal control problem into a nonlinear program for generation of the trajectories that optimize a given functional by approximating only the highest order derivatives of a given system's…