Related papers: Streamlines for Motion Planning in Underwater Curr…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
Optimizing fluid-dynamic performance is an important engineering task. Traditionally, experts design shapes based on empirical estimations and verify them through expensive experiments. This costly process, both in terms of time and space,…
Flow matching is a scalable generative framework for characterizing continuous normalizing flows with wide-range applications. However, current state-of-the-art methods are not well-suited for modeling dynamical systems, as they construct…
Slug flows are a typical intermittent two-phase flow pattern that can occur in submarine pipelines connecting the wells to the production facility and that is known to cause undesired consequences. In this context, computational fluid…
This paper presents an interactive bathtub model for describing the traffic dynamics of ride-sourcing vehicles including non-shared taxis and ride-pooling cars. A city with a network of undifferentiated streets and solely served by…
This paper presents a Wasserstein attraction approach for solving dynamic mass transport problems over networks. In the transport problem over networks, we start with a distribution over the set of nodes that needs to be "transported" to a…
High-Definition (HD) maps are essential for the safety of autonomous driving systems. While existing techniques employ camera images and onboard sensors to generate vectorized high-precision maps, they are constrained by their reliance on…
Planning for systems with dynamics is challenging as often there is no local planner available and the only primitive to explore the state space is forward propagation of controls. In this context, tree sampling-based planners have been…
Predicting how distributions over discrete variables vary over time is a common task in time series forecasting. But whereas most approaches focus on merely predicting the distribution at subsequent time steps, a crucial piece of…
The use of random sampling in decision-making and control has become popular with the ease of access to graphic processing units that can generate and calculate multiple random trajectories for real-time robotic applications. In contrast to…
We study compressible fluid flow in narrow two-dimensional channels using a novel molecular dynamics simulation method. In the simulation area, an upstream source is maintained at constant density and temperature while a downstream…
Energy efficiency and safety are two critical objectives for marine vehicles operating in environments with obstacles, and they generally conflict with each other. In this paper, we propose a novel online motion planning method of marine…
A detailed analysis is presented to demonstrate the capabilities of the lattice Boltzmann method. Thorough comparisons with other numerical solutions for the two-dimensional, driven cavity flow show that the lattice Boltzmann method gives…
In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…
We give an O(n log^3 n) algorithm that, given an n-node directed planar graph with arc capacities, a set of source nodes, and a set of sink nodes, finds a maximum flow from the sources to the sinks. Previously, the fastest algorithms known…
Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…
Motion planning is an essential element of the modular architecture of autonomous vehicles, serving as a bridge between upstream perception modules and downstream low-level control signals. Traditional motion planners were initially…
Computational fluid dynamics is a direct modeling of physical laws in a discretized space. The basic physical laws include the mass, momentum and energy conservations, physically consistent transport process, and similar domain of…
We consider utility maximization in networks where the sources do not employ flow control and may consequently overload the network. In the absence of flow control at the sources, some packets will inevitably have to be dropped when the…
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory.…