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The reduction of dynamical systems has a rich history, with many important applications related to stability, control and verification. Reduction of nonlinear systems is typically performed in an exact manner - as is the case with…
The subject of moving curves (and surfaces) in three dimensional space (3-D) is a fascinating topic not only because it represents typical nonlinear dynamical systems in classical mechanics, but also finds important applications in a…
This paper proposes fast and novel methods to jointly estimate the target's unknown 3D shape and dynamics. Measurements are noisy and sparsely distributed 3D points from a light detection and ranging (LiDAR) sensor. The methods utilize…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
We put forth a few ideas on coordinate conditions and their implementation in numerical relativity. Coordinate conditions are important for the long time scale simulations of relativistic systems, e.g., for the determination of…
Urban modeling is essential for city planning, scene synthesis, and gaming. Existing image-based methods generate diverse layouts but often lack geometric continuity and scalability, while graph-based methods capture structural relations…
In this paper we consider a tank containing fluid and we want to estimate the horizontal currents when the fluid surface height is measured. The fluid motion is described by shallow water equations in two horizontal dimensions. We build a…
Structural symmetries of linear dynamical systems can be exploited for decoupling the dynamics and reducing the computational complexity of the controller implementation. However, in practical applications, inexact structural symmetries…
Robots operating in dynamic environments face significant challenges due to the presence of moving agents and displaced objects. Traditional SLAM systems typically assume a static world or treat dynamic as outliers, discarding their…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a…
We study a three-dimensional analogue to the well-known graph visualization approach known as arc diagrams. We provide several algorithms that achieve good angular resolution for 3D arc diagrams, even for cases when the arcs must project to…
This report describes the design, implementation, evaluation and original enhancements to the Live-Wire method for 2D and 3D image segmentation. Live-Wire 2D employs a semi-automatic paradigm; the user is asked to select a few boundary…
We consider the curves whose all normal planes are at the same distance from a fixed point and obtain some characterizations of them in the 3-dimensional Euclidean space.
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…
We develop a linear-algebraic framework for dimensional analysis in systems with constraints, particularly when variables are numerous or related by implicit relations so that direct elimination is impractical. By expressing both…
The describing function method is a useful tool for the qualitative analysis of limit cycles in the stability analysis of nonlinear systems. This method is inherently approximate; therefore, it should be used for a fast qualitative analysis…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
Leveraging line features can help to improve the localization accuracy of point-based monocular Visual-Inertial Odometry (VIO) system, as lines provide additional constraints. Moreover, in an artificial environment, some straight lines are…