Related papers: Computing Feasible Trajectories for an Articulated…
Acoustic levitation has recently demonstrated the ability to create volumetric content by trapping and quickly moving particles along reference paths to reveal shapes in mid-air. However, the problem of specifying physically feasible trap…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
We present algorithmic results for the parallel assembly of many micro-scale objects in two and three dimensions from tiny particles, which has been proposed in the context of programmable matter and self-assembly for building high-yield…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…
Reasoning with defeasible and conflicting knowledge in an argumentative form is a key research field in computational argumentation. Reasoning under various forms of uncertainty is both a key feature and a challenging barrier for automated…
We investigate a class of chance-constrained combinatorial optimization problems. Given a pre-specified risk level $\epsilon \in [0,1]$, the chance-constrained program aims to find the minimum cost selection of a vector of binary decisions…
The Orbit Problem consists of determining, given a matrix $A\in \mathbb{R}^{d\times d}$ and vectors $x,y\in \mathbb{R}^d$, whether there exists $n\in \mathbb{N}$ such that $A^n=y$. This problem was shown to be decidable in a seminal work of…
In this work we study line arrangements consisting in lines passing through three non-aligned points. We call them triangular arrangements. We prove that any combinatorics of a triangular arrangement is always realized by a…
A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…
It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by choosing appropriate joint configurations for…
In this work, we propose an optimization approach for constructing various classes of circulant combinatorial designs that can be defined in terms of autocorrelations. The problem is formulated as a so-called feasibility problem having…
Randomized higher-order computation can be seen as being captured by a lambda calculus endowed with a single algebraic operation, namely a construct for binary probabilistic choice. What matters about such computations is the probability of…
Explaining algorithmic decisions and recommending actionable feedback is increasingly important for machine learning applications. Recently, significant efforts have been invested in finding a diverse set of recourses to cover the wide…
The input to the \emph{Triangle Evacuation} problem is a triangle $ABC$. Given a starting point $S$ on the perimeter of the triangle, a feasible solution to the problem consists of two unit-speed trajectories of mobile agents that…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
Experimental science usually relies on laboratory procedures that, after finitely many steps, terminate with numerical reports on physical quantities. This paper argues that such procedures can be understood as algorithmic once the…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
Recurrent Neural Network, Long Short-Term Memory, and Transformer have made great progress in predicting the trajectories of moving objects. Although the trajectory element with the surrounding scene features has been merged to improve…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…