Related papers: Completeness of Randomized Kinodynamic Planners wi…
We extend recent computer-assisted design and analysis techniques for first-order optimization over structured functions--known as performance estimation--to apply to structured sets. We prove "interpolation theorems" for smooth and…
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…
This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and…
Anytime sampling-based methods are an attractive technique for solving kino-dynamic motion planning problems. These algorithms scale well to higher dimensions and can efficiently handle state and control constraints. However, an intelligent…
This work is concerned with an optimal control problem on a Riemannian manifold, for which two typical cases are considered. The first case is when the endpoint is free. For this case, the control set is assumed to be a separable metric…
This paper investigates the planning and control for accurate positioning of car-like robots. We propose a solution that integrates two modules: a motion planner, facilitated by the rapidly-exploring random tree algorithm and…
The nonorthogonality of coherent states is a fundamental property which prevents them from being perfectly and deterministically discriminated. To circumvent this problem, we present an experimentally feasible protocol for the probabilistic…
The second-order tangent set is an important concept in describing the curvature of the set involved. Due to the existence of the complementarity condition, the second-order cone (SOC) complementarity set is a nonconvex set. Moreover,…
We derive conditions under which random sequences of polarizations (two-point symmetrizations) converge almost surely to the symmetric decreasing rearrangement. The parameters for the polarizations are independent random variables whose…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
In this work, we study two different quantum simulators composed of molecules with dipole-dipole interaction through various theoretical and numerical tools. Our first result provides knowledge upon the quantum order by disorder effect of…
On the space of probability densities, we extend the Wasserstein geodesics to the case of higher-order interpolation such as cubic spline interpolation. After presenting the natural extension of cubic splines to the Wasserstein space, we…
The state of a quantum system may be steered towards a predesignated target state, employing a sequence of weak $\textit{blind}$ measurements (where the detector's readouts are traced out). Here we analyze the steering of a two-level system…
Craig interpolation is a fundamental property of classical and non-classic logics with a plethora of applications from philosophical logic to computer-aided verification. The question of which interpolants can be obtained from an…
We integrate sampling-based planning techniques with funnel-based feedback control to develop KDF, a new framework for solving the kinodynamic motion-planning problem via funnel control. The considered systems evolve subject to complex,…
In this paper, we analyze the fundamental conditions for low-rank tensor completion given the separation or tensor-train (TT) rank, i.e., ranks of unfoldings. We exploit the algebraic structure of the TT decomposition to obtain the…
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random control inputs, their empirical convergence rate is often poor,…
The total generalized variation extends the total variation by incorporating higher-order smoothness. Thus, it can also suffer from similar discretization issues related to isotropy. Inspired by the success of novel discretization schemes…
RoboCup Middle Size League (RoboCup MSL) provides a standardized testbed for research on mobile robot navigation, multi-robot cooperation, communication and integration via robot soccer competition in which the environment is highly dynamic…
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics and constraints on the system shape and synthesize complex behaviors. Several previous works have shown its benefits in high-dimensional…