Related papers: An algorithmic approach to the multiple impact of …
A simple and efficient algorithm of the molecular-dynamics simulation of the hard disk system based on the Event-Driven method is developed. From the analysis of algorithm, the complexity is O(log N) per 1 event, and the constant…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
This paper concerns two algorithms for solving optimal control problems with hybrid systems. The first algorithm aims at hybrid systems exhibiting sliding modes. The first algorithm has several features which distinguishes it from the other…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
This paper presents a novel numerical optimisation method for infinite dimensional optimisation. The functional optimisation makes minimal assumptions about the functional and without any specific knowledge on the derivative of the…
We describe a Monte Carlo procedure for the simulation of dynamically triangulate random surfaces with a boundary (topology of a disk). The algorithm keeps the total number of triangles fixed, while the length of the boundary is allowed to…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
Iterative numerical algorithms are typically equipped with a stopping criterion, where the iteration process is terminated when some error or misfit measure is deemed to be below a given tolerance. This is a useful setting for comparing…
We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions. Our algorithms are optimal in a very concrete sense, namely, they have the…
In multiobjective optimization, the result of an optimization algorithm is a set of efficient solutions from which the decision maker selects one. It is common that not all the efficient solutions can be computed in a short time and the…
In this paper we consider a scenario where there are several algorithms for solving a given problem. Each algorithm is associated with a probability of success and a cost, and there is also a penalty for failing to solve the problem. The…
The purpose of this work is twofold: to present mathematical expressions for the kinematics of an articulated mechanism and to perform numerical experiments with the implemented code. The system of rigid parts is made of two slender bars…
Using the molecular dynamics method, we examine a discrete deterministic model for the motion of spherical particles in three-dimensional space. The model takes into account multiparticle collisions in arbitrary forms. Using fractional…
The goal of this paper is to present two algorithms for solving systems of inclusion problems, with all component of the systems being a sum of two maximal monotone operators. The algorithms are variants of the forward-backward splitting…
Robotic manipulation and locomotion often entail nearly-simultaneous collisions -- such as heel and toe strikes during a foot step -- with outcomes that are extremely sensitive to the order in which impacts occur. Robotic simulators…
Let $S$ be a set of $n$ points in the plane. We present several different algorithms for finding a pair of points in $S$ such that any disk that contains that pair must contain at least $cn$ points of $S$, for some constant $c>0$. The first…
We describe and analyze an interior-point method to decide feasibility problems of second-order conic systems. A main feature of our algorithm is that arithmetic operations are performed with finite precision. Bounds for both the number of…
A memetic framework for optimal inverse design is proposed by combining a local gradient-based procedure and a robust global scheme. The procedure is based on method-of-moments matrices and does not demand full inversion of a system matrix.…
We present an algorithm to analyze numerically the bounce solution of first-order phase transitions. Our approach is well suited to treat phase transitions with several fields. The algorithm consists of two parts. In the first part the…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…