Related papers: Robots, computer algebra and eight connected compo…
Identifying symmetries in data sets is generally difficult, but knowledge about them is crucial for efficient data handling. Here we present a method how neural networks can be used to identify symmetries. We make extensive use of the…
Given a 3D object, kinematic motion prediction aims to identify the mobile parts as well as the corresponding motion parameters. Due to the large variations in both topological structure and geometric details of 3D objects, this remains a…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Quantum robots and their interactions with environments of quantum systems are described and their study justified. A quantum robot is a mobile quantum system that includes a quantum computer and needed ancillary systems on board. Quantum…
Programmable quantum systems based on Rydberg atom arrays have recently emerged as a promising testbed for combinatorial optimization. Indeed, the Maximum Weighted Independent Set problem on unit-disk graphs can be efficiently mapped to…
Singularity analysis is essential in robot kinematics, as singular configurations cause loss of control and kinematic indeterminacy. This paper models singularities in bar frameworks as saddle points on constrained manifolds. Given an…
An active area of investigation in the search for quantum advantage is Quantum Machine Learning. Quantum Machine Learning, and Parameterized Quantum Circuits in a hybrid quantum-classical setup in particular, could bring advancements in…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well modeled by linear complementarity…
Recent studies have revealed that using social robots can accelerate the learning process of several skills in areas where autistic children typically show deficits. However, most early research studies conducted interactions via free play.…
The Chinese Remainder Theorem for the integers says that every system of congruence equations is solvable as long as the system satisfies an obvious necessary condition. This statement can be generalized in a natural way to arbitrary…
Existing structural analysis methods may fail to find all hidden constraints for a system of differential-algebraic equations with parameters if the system is structurally unamenable for certain values of the parameters. In this paper, for…
In recent decades, the field of quantum computing has experienced remarkable progress. This progress is marked by the superior performance of many quantum algorithms compared to their classical counterparts, with Shor's algorithm serving as…
We produce algorithms to detect whether a complex affine variety computed and presented numerically by the machinery of numerical algebraic geometry corresponds to an associated component of a polynomial ideal.
Identifying the parameters of robotic systems, such as motor inertia or joint friction, is critical to satisfactory controller synthesis, model analysis, and observer design. Conventional identification techniques are designed primarily for…
Let G be a simply connected absolutely simple algebraic group defined over the field of real numbers R. Let H be a simply connected semisimple R-subgroup of G. We consider the homogeneous space X=G/H. We ask: How many connected components…
We present an algorithm for computing circuit polynomials in the algebraic rigidity matroid $\mathcal{A}(\text{CM}_n)$ associated to the Cayley-Menger ideal CM$_n$ for $n$ points in 2D. It relies on combinatorial resultants, a new operation…
Dynamic programming (DP) is an algorithmic design paradigm for the efficient, exact solution of otherwise intractable, combinatorial problems. However, DP algorithm design is often presented in an ad-hoc manner. It is sometimes difficult to…
In this paper we propose an algebraic formalization of connectors in the quantitative setting, in order to address their non-functional features in architectures of component-based systems. We firstly present a weighted Algebra of…
We characterize the finite codimension sub-K-algebras of K[[t]] as the solutions of a computable finite family of higher differential operators. For this end, we establish a duality between such a sub-algebras and the finite codimension…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…