Related papers: On Centroidal Dynamics and Integrability of Averag…
Colloidal bodies of irregular shape rotate as they descend under gravity in solution. This rotational response provides a means of bringing a dispersion of identical bodies into a synchronized rotation with the same orientation using…
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…
This paper presents an alternative approach to the study of distance rigidity in networks of mobile agents, based on a subframework scheme. The advantage of the proposed strategy lies in expressing framework rigidity, which is inherently…
We formulate and study a general family of (continuous-time) stochastic dynamics for accelerated first-order minimization of smooth convex functions. Building on an averaging formulation of accelerated mirror descent, we propose a…
Statistics and Optimization are foundational to modern Machine Learning. Here, we propose an alternative foundation based on Abstract Algebra, with mathematics that facilitates the analysis of learning. In this approach, the goal of the…
The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…
In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on…
Acceleration is a fundamental concept in physics which is taught in mechanics at all levels. Here, we discuss some challenges in teaching this concept effectively when the path along which the object is moving has a curvature and…
For robots to operate effectively and safely alongside humans, they must be able to understand the progress of ongoing actions. This ability, known as action progress prediction, is critical for tasks ranging from timely assistance to…
In this paper we study the self-propulsion of a triangular micro-robot (or triangle-robot) which consists of three spheres connected by three rods; the rods' lengths are changing independently and periodically. Using the asymptotic…
The relativistic motion of an arbitrary point of an accelerated rigid rod is discussed for the case when velocity and acceleration are directed along the rod's length. The discussion includes the case of a time-dependent force applied to a…
Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
The persistent problem posed by the glass transition is to develop a general atomic level description of a solidification process that is not associated with any change in the symmetry of the atomic structure. The answer proposed in this…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
An algorithm is proposed for generalized mean curvature flow of closed two-dimensional surfaces, which include inverse mean curvature flow, powers of mean and inverse mean curvature flow, etc. Error estimates are proven for semi- and full…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…
A continuous solution is proposed to the problem of uniform global exponential estimation of the angular velocity for rigid bodies by means of direct attitude measurements. The proposed observer is designed on…
We introduce a general and systematic theoretical framework for Operational Dynamic Modeling (ODM) by combining a kinematic description of a model with the evolution of the dynamical average values. The kinematics includes the algebra of…