Related papers: Relativistic location algorithm in curved spacetim…
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and,…
Deformed relativistic kinematics have been considered as a way to capture residual effects of quantum gravity. It has been shown that they can be understood geometrically in terms of a curved momentum space on a flat spacetime. In this…
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
Accretion of magnetized gas on compact astrophysical objects such as black holes has been successfully modeled using general relativistic magnetohydrodynamic (GRMHD) simulations. These simulations have largely been performed in the Kerr…
We present a method for general relativistic smoothed particle hydrodynamics (GRSPH), based on an entropy-conservative form of the general relativistic hydrodynamic equations for a perfect fluid. We aim to replace approximate treatments of…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
We revisit the definition of transverse frames and tetrad choices with regards to its application to numerically generated spacetimes, in particular those from the merger of binary black holes. We introduce the concept of local and…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
With the improvement in the quantity and quality of remote sensing images, content-based remote sensing object retrieval (CBRSOR) has become an increasingly important topic. However, existing CBRSOR methods neglect the utilization of global…
We show that the average trajectories of relativistic quantum particles in Schwarzschild spacetime, obtained via quantum mechanical weak measurements of momentum and energy, are equivalent to the predicted flow lines of probability current…
In this work, we present LocGAN, our localization approach based on a geo-referenced aerial imagery and LiDAR grid maps. Currently, most self-localization approaches relate the current sensor observations to a map generated from previously…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the…
In this paper we explore one of the most important features of the Galerkin method, which is to achieve high accuracy with a relatively modest computational effort, in the dynamics of Robinson-Trautman spacetimes.
The study of Kerr geodesics has a long history, particularly for those occurring within the equatorial plane, which is generally well-understood. However, upon comparison with the classification introduced by one of us…
Fast and accurate integration of geodesics in Kerr spacetimes is an important tool in modeling the orbits of stars and the transport of radiation in the vicinities of black holes. Most existing integration algorithms employ Boyer-Lindquist…
We construct a self-consistent relativistic Newtonian analogue corresponding to gravitational static spherical symmetric spacetime geometries, staring directly from a generalized scalar relativistic gravitational action in Newtonian…
We consider the problem of self-localization by a resource-constrained mobile node given perturbed anchor position information and distance estimates from the anchor nodes. We consider normally-distributed noise in anchor position…
We present a general and practical procedure to solve the general relativistic hydrodynamic equations by using any of the special relativistic Riemann solvers recently developed for describing the evolution of special relativistic flows.…
A new algorithm for 3D localization in multiplatform radar networks, comprising one transmitter and multiple receivers, is proposed. To take advantage of the monostatic sensor radiation pattern features, ad-hoc constraints are imposed in…