Related papers: Completeness of Randomized Kinodynamic Planners wi…
Sampling-based motion planners offer a practical and scalable approach to kinodynamic motion planning, notably for high-dimensional, underactuated, or non-holonomic systems. However, these planners are typically used offline, requiring…
We study schemes for interpolating functions that take values in the special orthogonal group $SO(n)$. Our focus is on interpolation schemes obtained by embedding $SO(n)$ in a linear space, interpolating in the linear space, and mapping the…
Prediction models that capture and use the structure of state-space dynamics can be very effective. In practice, however, one rarely has access to full information about that structure, and accurate reconstruction of the dynamics from…
Determining whether two STRIPS planning instances are isomorphic is the simplest form of comparison between planning instances. It is also a particular case of the problem concerned with finding an isomorphism between a planning instance…
Mechanical systems are often characterized only by their response to certain loads known from experiments or simulations. The obtained data can be used for various purposes: system analysis, design of mathematical models, or construction of…
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate, simpler, steps: first, find a path in the…
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to…
We introduce random matrix theory to study the tomographic efficiency of a wide class of measurements constructed out of weighted 2-designs, including symmetric informationally complete (SIC) probability operator measurements (POMs). In…
In this work, we introduce BBoE, a bidirectional, kinodynamic, sampling-based motion planner that consistently and quickly finds low-cost solutions in environments with varying obstacle clutter. The algorithm combines exploration and…
This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to boundary conditions on velocity, acceleration, and steering.…
In this article we provide a proof of the so called absolute continuity theorem for random dynamical systems on $R^d$ which have an invariant probability measure. First we present the construction of local stable manifolds in this case.…
The optimal control problem for the kinematic bicycle model is considered where the trajectories are required to satisfy the safety constraints in the continuous-time sense. Based on the differential flatness property of the model,…
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
We consider the non-overlapping irreversible random sequential adsorption (RSA) process on one-dimensional finite line, which is known also as the car parking process. The probability of each coverage in saturating states is analytically…
Particle filtering is a popular method for inferring latent states in stochastic dynamical systems, whose theoretical properties have been well studied in machine learning and statistics communities. In many control problems, e.g.,…
The modeling of dynamical systems is essential in many fields, but applying machine learning techniques is often challenging due to incomplete or noisy data. This study introduces a variant of stochastic interpolation (SI) for probabilistic…
In this paper a second order dynamical system model is proposed for computing a zero of a maximal comonotone operator in Hilbert spaces. Under mild conditions, we prove existence and uniqueness of a strong global solution of the proposed…
We present an algorithm for steering the output of a linear system from a feasible initial condition to a desired target position, while satisfying input constraints and non-convex output constraints. The system input is generated by a…
The article "Interpolation and SAT-Based Model Checking" (McMillan, 2003) describes a formal-verification algorithm, which was originally devised to verify safety properties of finite-state transition systems. It derives interpolants from…