Related papers: Inexact Loops in Robotics Problems
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
A basic issue in optimization, inverse theory,neural networks, computational chemistry and many other problems is the geometrical characterization of high dimensional functions. In inverse calculations one aims to characterize the set of…
Symplectic mappings are discrete-time analogs of Hamiltonian systems. They appear in many areas of physics, including, for example, accelerators, plasma, and fluids. Integrable mappings, a subclass of symplectic mappings, are equivalent to…
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating the…
The rules in a shape grammar apply in terms of embedding to take advantage of the parts that emerge visually in the appearance of shapes. While the shapes are kept unanalyzed as a computation moves forward, part-structures for shapes can be…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
A well-established approach to reasoning about loops during program analysis is to capture the effect of a loop by extracting recurrences from the loop; these express relationships between the values of variables, or program properties such…
For robots to navigate and interact more richly with the world around them, they will likely require a deeper understanding of the world in which they operate. In robotics and related research fields, the study of understanding is often…
In contrast to set-point tracking which aims to reduce the tracking error between the tracker and the reference, tracking-in-range problems only focus on whether the tracker is within a given range around the reference, making it more…
Topological measures and quasi-linear functionals generalize measures and linear functionals. We define and study deficient topological measures on locally compact spaces. A deficient topological measure on a locally compact space is a set…
Random matrices are used in fields as different as the study of multi-orthogonal polynomials or the enumeration of discrete surfaces. Both of them are based on the study of a matrix integral. However, this term can be confusing since the…
Many problems in nonlinear analysis and optimization, among them variational inequalities and minimization of convex functions, can be reduced to finding zeros (namely, roots) of set-valued operators. Hence numerous algorithms have been…
Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
Finding the Time-Optimal Parameterization of a Path (TOPP) subject to second-order constraints (e.g. acceleration, torque, contact stability, etc.) is an important and well-studied problem in robotics. In comparison, TOPP subject to…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
Inspired by recent results of unusual properties of loop processes in relative locality, we introduce a way to classify loops in the case of kappa-Poincare momentum space. We show that the notion of orientability is deeply connected to a…
The huge advantage of in-pipe robots is that they are able to measure from inside the pipes, and to sense the geometry, appearance and radiometry directly. The downside is the inability to know precise, absolute position of the measurements…