Related papers: A Hybrid Approach to Persistent Coverage in Stocha…
Simultaneous localization and mapping (SLAM) approaches for mobile robots remains challenging in forest or arboreal fruit farming environments, where tree canopies obstruct Global Navigation Satellite Systems (GNSS) signals. Unlike indoor…
We investigate the integrability of 2-dimensional invariant distributions (tangent sub-bundles) which arise naturally in the context of dynamical systems on 3-manifolds. In particular we prove unique integrability of dynamically dominated…
This paper introduces a general modeling framework for a multi-type maximal covering location problem in which the position of facilities in different metric spaces are simultaneously decided to maximize the demand generated by a set of…
This paper presents an estimation and control framework that enables the targeted reentry of a drag-modulated spacecraft in the presence of atmospheric density uncertainty. In particular, an extended Kalman filter (EKF) is used to estimate…
This work presents a cascaded hybrid control framework for quadrotor trajectory tracking under nonlinear dynamics and external disturbances. In quadrotor systems, the altitude and attitude channels exhibit fast, structured dynamics that are…
Layered control is essential for managing complexity in large-scale systems, employing progressively coarser models at higher layers. While significant advances have been made for fully observable systems, the theoretical foundations of…
This study introduces a novel methodology for controlling Quadrotor Unmanned Aerial Vehicles, focusing on Hierarchical Sliding Mode Control strategies and an Extended Kalman Filter. Initially, an EKF is proposed to enhance robustness in…
We present a fully Eulerian hybrid immersed-boundary/phase-field model to simulate wetting and contact line motion over any arbitrary geometry. The solid wall is described with a volume-penalisation ghost-cell immersed boundary whereas the…
Persistent homology provides information about the lifetime of homology classes along a filtration of cell complexes. Persistence barcode is a graphical representation of such information. A filtration might be determined by time in a set…
We present a hybrid systems framework for multi-agent optimization in which agents execute computations in continuous time and communicate in discrete time. The optimization algorithm is a hybrid version of parallelized coordinate descent.…
The paper demonstrates that invariant foliations are accurate, data-efficient and practical tools for data-driven modelling of physical systems. Invariant foliations can be fitted to data that either fill the phase space or cluster about an…
The impact of impenetrable obstacles on the energetics and equilibrium structure of strongly repulsive directed polymers is investigated. As a result of the strong interactions, regions of severe polymer depletion and excess are found in…
We consider the problem of estimating a vector of unknown constant parameters for a class of hybrid dynamical systems -- that is, systems whose state variables exhibit both continuous (flow) and discrete (jump) evolution. Using a hybrid…
This note presents an embedded automatic control strategy for a low consumption vehicle equipped with an "on/off" engine. The main difficulties are the hybrid nature of the dynamics, the non smoothness of the dynamics of each mode, the…
The phase space of hadron collider events spans hundreds of dimensions, generating an intricate geometry that we are just starting to explore. The number of possible new physics signals is exponential in the number of dimensions and…
This paper introduces a comprehensive planning and navigation framework that address these limitations by integrating semantic mapping, adaptive coverage planning, dynamic obstacle avoidance and precise trajectory tracking. Our framework…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
The multi-agent pickup and delivery (MAPD) problem, in which multiple agents iteratively carry materials without collisions, has received significant attention. However, many conventional MAPD algorithms assume a specifically designed…
Understanding the three-dimensional (3D) structure of the genome is essential for elucidating vital biological processes and their links to human disease. To determine how the genome folds within the nucleus, chromosome conformation capture…
We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. The intruders' objective is to breach the target boundary without being captured by the defender. As soon as…