Related papers: On Centroidal Dynamics and Integrability of Averag…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
Relativistic rotation is considered in the limit of angular velocity approaching zero and radial distance approaching infinity, such that centrifugal acceleration is immeasurably small while tangent velocity remains close to the speed of…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
This paper analyses the dynamic response of a robot when subject to an external force that is applied to its Center of Mass (CoM). The Ratio of Transmission of Motion (RoToM) is proposed as a novel indicator of what part of the applied…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
Robust agent-based models for pedestrian dynamics, which can predict the motion of pedestrians in various situations without specific adjustment of the model or its parameters, are highly desirable. But the modeller's task is challenging,…
Equivariance is a powerful prior for learning physical dynamics, yet exact group equivariance can degrade performance if the symmetries are broken. We propose object-centric world models built with geometric algebra neural networks,…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
It is well known that a rotation of a free generic three-dimensional rigid body is stationary if and only if it is a rotation around one of three principal axes of inertia. As it was noted by many authors, the analogous result is true for a…
This study investigates the $L^1_{\operatorname{loc}}$ compactness of velocity averages of sequences of solutions $\{u_n\}$ for a class of kinetic equations. The equations are examined within both deterministic and stochastic heterogeneous…
A classic problem of the motion of a projectile thrown at an angle to the horizon is studied. Air resistance force and Magnus force are taken into account with the use of the quadratic laws. We consider the asymptotic motion of the…
We generalize the robotics equation describing the dynamics of open kinematic chains by including the effect of time-dependent change of inertial parameters as well as the effects of causative mass-density redistribution, triggered by…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Special relativity corresponds to hyperbolic geometry at constant velocity while the so-called general relativity corresponds to hyperbolic geometry of uniformly accelerated systems. Generalized expressions for angular momentum, centrifugal…