Related papers: Asymptotic behaviour in the robot rendezvous probl…
In this work, the problem of 4 degree-of-freedom (3D position and heading) robot-to-robot relative frame transformation estimation using onboard odometry and inter-robot distance measurements is studied. Firstly, we present a theoretical…
The RFMP is an iterative regularization method for a class of linear inverse problems. It has proved to be applicable to problems which occur, for example, in the geosciences. In the early publications [Fischer2011] and [FischerMichel2012],…
A fundamental maneuver in autonomous space operations is known as rendezvous, where a spacecraft navigates to and approaches another spacecraft. In this case study, we present linear and nonlinear benchmark models of an active chaser…
Consider a set of $n$ mobile entities, called robots, located and operating on a continuous circle, i.e., all robots are initially in distinct locations on a circle. The \textit{gathering} problem asks to design a distributed algorithm that…
To enhance human-robot social interaction, it is essential for robots to process multiple social cues in a complex real-world environment. However, incongruency of input information across modalities is inevitable and could be challenging…
Given any multiset F of points in the Euclidean plane and a set R of robots such that |R|=|F|, the Arbitrary Pattern Formation (APF) problem asks for a distributed algorithm that moves robots so as to reach a configuration similar to F.…
We provide an asymptotic analysis of linear transport problems in the diffusion limit under minimal regularity assumptions on the domain, the coefficients, and the data. The weak form of the limit equation is derived and the convergence of…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. A simultaneous matching and routing problem (SMRP) is formulated to match the humans with robot guides…
Finding high-quality solutions quickly is an important objective in motion planning. This is especially true for high-degree-of-freedom robots. Satisficing planners have traditionally found feasible solutions quickly but provide no…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. Our approach extends RRT*, which was introduced for holonomic robots (Karaman et…
In a recent paper by A. Chambolle et al. [Geometric properties of solutions to the total variation denoising problem. Inverse Problems 33, 2017] it was proven that if the subgradient of the total variation at the noise free data is not…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
In this paper, we propose a general Tikhonov regularized second-order dynamical system with viscous damping, time scaling and extrapolation coefficients for the convex-concave bilinear saddle point problem. By the Lyapunov function…
Our goal is to enable robots to \emph{time} their motion in a way that is purposefully expressive of their internal states, making them more transparent to people. We start by investigating what types of states motion timing is capable of…
This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its…
The multichannel rendezvous problem that asks two secondary users to rendezvous on a common available channel in a cognitive radio network (CRN) has received a lot of attention lately. Most rendezvous algorithms in the literature focused on…
This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all…
This paper analyzes the meeting time between a pair of pursuer and evader performing random walks on digraphs. The existing bounds on the meeting time usually work only for certain classes of walks and cannot be used to formulate…
We study the problem of solving strongly convex and smooth unconstrained optimization problems using stochastic first-order algorithms. We devise a novel algorithm, referred to as Recursive One-Over-T SGD (ROOT-SGD), based on an easily…