Related papers: Robots, computer algebra and eight connected compo…
The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
In this paper we combine a survey of the most important topological properties of kinematic maps that appear in robotics, with the exposition of some basic results regarding the topological complexity of a map. In particular, we discuss…
With the recent advances in machine learning, problems that traditionally would require accurate modeling to be solved analytically can now be successfully approached with data-driven strategies. Among these, computing the inverse…
Connected components of real algebraic varieties invariant under the $CB_{n}$-Coxeter group are investigated. In particular, we consider their maximal number and their geometric and topological properties. This provides a decomposition for…
Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER, a benchmark for Kinematic and Dynamic…
This survey article is concerned with the modeling of the kinematical structure of quantum systems in an algebraic framework which eliminates certain conceptual and computational difficulties of the conventional approaches. Relying on the…
In practice symmetries of combinatorial structures are computed by transforming the structure into an annotated graph whose automorphisms correspond exactly to the desired symmetries. An automorphism solver is then employed to compute the…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…
Kernel-based learning algorithms are widely used in machine learning for problems that make use of the similarity between object pairs. Such algorithms first embed all data points into an alternative space, where the inner product between…
We introduce the concept of Almost-Companion Matrix (ACM) by relaxing the non-derogatory property of the standard Companion Matrix (CM). That is, we define an ACM as a matrix whose characteristic polynomial coincides with a given monic and…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
Validation of a presumably universal theory, such as quantum mechanics, requires a quantum mechanical description of systems that carry out theoretical calculations and experiments. The description of quantum computers is under active…
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact…
We analyze the bit complexity of an algorithm for the computation of at least one point in each connected component of a smooth real algebraic set. This work is a continuation of our analysis of the hypersurface case (On the bit complexity…
Using results on the topology of moduli space of polygons [Jaggi, 92; Kapovich and Millson, 94], it can be shown that for a planar robot arm with $n$ segments there are some values of the base-length, $z$, at which the configuration space…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
In this paper, we consider the gathering problem of seven autonomous mobile robots on triangular grids. The gathering problem requires that, starting from any connected initial configuration where a subgraph induced by all robot nodes…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…