Related papers: A Unified Method for Solving Inverse, Forward, and…
In this paper we provide a closed mathematical formulation of our previous results in the field of symbolic dynamics of unimodal maps. This being the case, we discuss the classical theory of applied symbolic dynamics for unimodal maps and…
Graph transformation is concerned with the manipulation of graphs by means of rules. Graph grammars have been traditionally studied using techniques from category theory. In previous works, we introduced Matrix Graph Grammars (MGGs) as a…
Graph-based modeling plays a fundamental role in many areas of computer science. In this paper, we introduce systems of graph formulas with variables for specifying graph properties; this notion generalizes the graph formulas introduced in…
We propose an algorithm for solving of the graph isomorphism problem. Also, we introduce the new class of graphs for which the graph isomorphism problem can be solved polynomially using the algorithm.
We contribute to approximate algorithms for the quadratic assignment problem also known as graph matching. Inspired by the success of the fusion moves technique developed for multilabel discrete Markov random fields, we investigate its…
We introduce a forward-backward-forward (FBF) algorithm for solving bilevel equilibrium problem associated with bifunctions on a real Hilbert space. This modifies the forward-backward algorithm by relaxing cocoercivity with monotone and…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of…
This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
We introduce an algorithm to solve linear inverse problems regularized with the total (gradient) variation in a gridless manner. Contrary to most existing methods, that produce an approximate solution which is piecewise constant on a fixed…
Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence and generating more realistic configurations. However,…
The generalized Oberwolfach problem asks for a decomposition of a graph $G$ into specified 2-regular spanning subgraphs $F_1,\ldots, F_k$, called factors. The classic Oberwolfach problem corresponds to the case when all of the factors are…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
In this paper, we introduce a graph matching method that can account for constraints of arbitrary order, with arbitrary potential functions. Unlike previous decomposition approaches that rely on the graph structures, we introduce a…
Solving analytic systems using inversion can be implemented in a variety of ways. One method is to use Lagrange inversion and variations. Here we present a different approach, based on dual vector fields. For a function analytic in a…
The two most popular types of graphical model are directed models (Bayesian networks) and undirected models (Markov random fields, or MRFs). Directed and undirected models offer complementary properties in model construction, expressing…
We propose an exact algorithm for solving the longest simple path problem between two given vertices in undirected weighted graphs. By using graph partitioning and dynamic programming, we obtain an algorithm that is significantly faster…
This article introduces a new class of fast algorithms to approximate variational problems involving unbalanced optimal transport. While classical optimal transport considers only normalized probability distributions, it is important for…
Inverse kinematics is an important and challenging problem in the operation of industrial manipulators. This study proposes a simple inverse kinematics calculation scheme for an industrial serial manipulator. The proposed technique can…