Related papers: Parameterization of configuration space obstacles …
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Solving large-scale optimization on-the-fly is often a difficult task for real-time computer graphics applications. To tackle this challenge, model reduction is a well-adopted technique. Despite its usefulness, model reduction often…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
In this paper, we derive new shape descriptors based on a directional characterization. The main idea is to study the behavior of the shape neighborhood under family of transformations. We obtain a description invariant with respect to…
I consider configuration spaces for $N$-body problems, gauge theories and for GR in both geometrodynamical and Ashtekar variables forms, including minisuperspace and inhomogeneous perturbations thereabout in the former case. These examples…
Ground robot navigation in complex 3D environments is often hindered by geometric ambiguity, where non-traversable structures such as furniture share local geometric properties with navigable ground. Furthermore, the computational cost of…
The design of adaptive structures is one method to improve sustainability of buildings. Adaptive structures are able to adapt to different loading and environmental conditions or to changing requirements by either small or large shape…
We explore the complex design space of behaviour planning for autonomous driving. Design choices that successfully address one aspect of behaviour planning can critically constrain others. To aid the design process, in this work we…
From a group action on a space, define a variant of the configuration space by insisting that no two points inhabit the same orbit. When the action is almost free, this "orbit configuration space" is the complement of an arrangement of…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
We describe three identification spaces of the square, interesting choices of immersion into $\mathbb{R}^3$, and a process to construct 3d-printable models of their parametrizations.
A planar kinematic chain consists of $n$ links connected by joints. In this work we investigate the space of configurations, described in terms of joint angles, that guarantee that the kinematic chain is closed. We give explicit formulas…
Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for…
Aerodynamic shape optimization has established itself as a valuable tool in the engineering design process to achieve highly efficient results. A central aspect for such approaches is the mapping from the design parameters which encode the…
The proper handling of 3D orientations is a central element in many optimization problems in engineering. Unfortunately many researchers and engineers struggle with the formulation of such problems and often fall back to suboptimal…
Given a finite collection of two-dimensional tile types, the field of study concerned with covering the plane with tiles of these types exclusively has a long history, having enjoyed great prominence in the last six to seven decades. Much…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…
Finitely many hypersurfaces are removed from unordered configuration spaces of $n$ points in $\mathbb{C}$ to obtain a fibration over unordered configuration spaces of $n-1$ complex points. Fundamental groups of these restricted…
We study configuration spaces of framed points on oriented closed smooth manifolds. Such configuration spaces admit natural actions of the framed little discs operads, that play an important role in the study of embedding spaces of…