Related papers: Necessary and sufficient condition for a generic 3…
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant approximation of the whole-body dynamics is able to execute…
Accurate robot kinematics is essential for precise tool placement in articulated robots, but non-geometric factors can introduce configuration-dependent model discrepancies. This paper presents a configuration-dependent kinematic…
Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number leads, under certain conditions, to…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
We treat the circular and elliptic restricted three-body problems in inertial frames as periodically forced Kepler problems with additional singularities and explain that in this setting the main result of [4] is applicable. This guarantees…
Let $ R $ be a rational map. We are interesting in the dynamic of the Ruelle operator on suitable spaces of differentials. In particular the necessary and sufficient conditions (in terms of convergence of sequences of measures) of existence…
In the open problem of classification of rational cuspidal plane curves it is essential to find good necessary conditions on the type of singularities of a curve C in order C to exit. Motivated by the study of the Seiberg-Witten invariant…
Spatial understanding is a crucial capability that enables robots to perceive their surroundings, reason about their environment, and interact with it meaningfully. In modern robotics, these capabilities are increasingly provided by…
World models promise a paradigm shift in robotics, where an agent learns the underlying physics of its environment once to enable efficient planning and behavior learning. However, current world models are often hardware-locked specialists:…
Three-dimensional theories with cubic symmetry are studied using the machinery of the numerical conformal bootstrap. Crossing symmetry and unitarity are imposed on a set of mixed correlators, and various aspects of the parameter space are…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
Context. We have investigated the structure and kinematics of triaxial final models formed due to radial-orbit instability from a set of equilibrium anisotropic spherical systems of the Osipkov-Merritt type. Aims. We show that the…
In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the…
As a starting point of our research, we show that, for a fixed order $\gamma\geq 1$, each local minimizer of a rather general nonsmooth optimization problem in Euclidean spaces is either M-stationary in the classical sense (corresponding to…
The exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…
Using a designed vector field to control a mobile robot to follow a given desired path is intuitive and practical, and to build a rigorous theory to guide its implementation is essential. In this paper, we study the properties of a general…
Theta representations appear globally as the residues of Eisenstein series on covers of groups; their unramified local constituents may be characterized as subquotients of certain principal series. A cuspidal theta representation is one…
On a spin manifold with conformal cusps, we prove under an invertibility condition at infinity that the eta function of the twisted Dirac operator has at most simple poles and is regular at the origin. For hyperbolic manifolds of finite…
Modern robotic systems are endowed with superior mobility and mechanical skills that make them suited to be employed in real-world scenarios, where interactions with heavy objects and precise manipulation capabilities are required. For…