Related papers: Morse Graphs: Topological Tools for Analyzing the …
We investigate networks of automata that synchronise over common action labels. A graph synchronisation topology between the automata is defined in such a way that two automata are connected iff they can synchronise over an action. We show…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
We propose an adaptive control protocol for identifying the topology of dynamical networks interconnected over undirected graphs with cooperative and antagonistic interactions. The signed network is modeled using a repelling Laplacian.…
We focus on the problem of analyzing multiagent interactions in traffic domains. Understanding the space of behavior of real-world traffic may offer significant advantages for algorithmic design, data-driven methodologies, and benchmarking.…
Many task domains require robots to interpret and act upon natural language commands which are given by people and which refer to the robot's physical surroundings. Such interpretation is known variously as the symbol grounding problem,…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…
A general scheme is proposed and tested to control the symmetry breaking instability of a homogeneous solution of a spatially extended multispecies model, defined on a network. The inherent discreteness of the space makes it possible to act…
Autonomous robots operating in dynamic environments must maintain beliefs over a hypothesis space that is rich enough to represent the activities of interest at different scales. This is important both in order to accommodate the…
In many real-world scenarios, an autonomous agent often encounters various tasks within a single complex environment. We propose to build a graph abstraction over the environment structure to accelerate the learning of these tasks. Here,…
In this work, we investigate the analysis of generators for dynamic graphs, which are defined as graphs whose topology changes over time. We introduce a novel concept, called ''sustainability,'' to qualify the long-term evolution of dynamic…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Model sets are projections of certain lattice subsets. It was realised by Moody that dynamical properties of such sets are induced from the torus associated with the lattice. We follow and extend this approach by studying dynamics on the…
Tracking a desired Pointing Direction and simultaneously obtaining a reference Angular Velocity (PDAV) around the pointing direction constitutes a very involved and complicated motion encountered in a variaty of robotic, industrial and…
We investigate combinatorial dynamical systems on simplicial complexes considered as {\em finite topological spaces}. Such systems arise in a natural way from sampling dynamics and may be used to reconstruct some features of the dynamics…
A system of coupled oscillators on an arbitrary graph is locally driven by the tendency to mutual synchronization between nearby oscillators, but can and often exhibit nonlinear behavior on the whole graph. Understanding such nonlinear…
The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can…
Dynamical systems appear in nearly every aspect of the physical world. As such, understanding the properties of dynamical systems is of great importance. Typically, a dynamical system is described by a system of ordinary differential…
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…