Related papers: A Unified Method for Solving Inverse, Forward, and…

We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…

We discuss factorization of the hypergeometric-type difference equations on the uniform lattices and show how one can construct a dynamical algebra, which corresponds to each of these equations. Some examples are exhibited, in particular,…

In this paper, we propose computational approaches for the zero forcing problem, the connected zero forcing problem, and the problem of forcing a graph within a specified number of timesteps. Our approaches are based on a combination of…

Human-machine interaction has been around for several decades now, with new applications emerging every day. One of the major goals that remain to be achieved is designing an interaction similar to how a human interacts with another human.…

Even if path planning can be solved using standard techniques from dynamic programming and control, the problem can also be approached using probabilistic inference. The algorithms that emerge using the latter framework bear some appealing…

The central nervous system is composed of many individual units -- from cells to areas -- that are connected with one another in a complex pattern of functional interactions that supports perception, action, and cognition. One natural and…

We present an algorithm for solving inverse problems on graphs analogous to those arising in diffuse optical tomography for continuous media. In particular, we formulate and analyze a discrete version of the inverse Born series, proving…

Numerous approximation algorithms for problems on unit disk graphs have been proposed in the literature, exhibiting a sharp trade-off between running times and approximation ratios. We introduce a variation of the known shifting strategy…

We show that the factor graph and certifiable estimation paradigms, which have thus far been treated as essentially independent in the literature, can be naturally synthesized into a unified framework for certifiable factor graph…

In this paper, we propose an algebraic formalization of the two important classes of dynamic programming algorithms called forward and forward-backward algorithms. They are generalized extensively in this study so that a wide range of other…

This paper will contribute to a practical problem, Urban Traffic. We will investigate those features, try to simplify the complexity and formulize this dynamic system. These contents mainly contain how to analyze a decision problem with…

This paper investigates the feasibility of using Graph Neural Networks (GNNs) for classical motion planning problems. We propose guiding both continuous and discrete planning algorithms using GNNs' ability to robustly encode the topology of…

Many numerical methods for evaluating matrix functions can be naturally viewed as computational graphs. Rephrasing these methods as directed acyclic graphs (DAGs) is a particularly effective approach to study existing techniques, improve…

Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…

As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…

The dynamic complexity of robots and mechatronic systems often pertains to the hybrid nature of dynamics, where governing equations consist of heterogenous equations that are switched depending on the state of the system. Legged robots and…

The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…

In human environments, robots are expected to accomplish a variety of manipulation tasks given simple natural language instructions. Yet, robotic manipulation is extremely challenging as it requires fine-grained motor control, long-term…

With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…

Multi-person motion prediction is a complex and emerging field with significant real-world applications. Current state-of-the-art methods typically adopt dual-path networks to separately modeling spatial features and temporal features.…