Related papers: OptiTrap: Optimal Trap Trajectories for Acoustic L…
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find…
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints effectively and provide a high numerical robustness, but they…
The acoustic inverse obstacle scattering problem consists of determining the shape of a domain from measurements of the scattered far field due to some set of incident fields (probes). For a penetrable object with known sound speed, this…
Optical trapping is a widely used technique, with many important applications in biology and metrology. Complete modelling of trapping requires calculation of optical forces, primarily a scattering problem, and non-optical forces. The…
Acoustic trapping uses forces exerted by sound waves to transport small objects along specified trajectories in three dimensions. The structure of the acoustic force landscape is governed by the amplitude and phase profiles of the sound's…
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the…
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 propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
Robotic manipulation is often specified through language instructions or task identifiers, yet cluttered environments with similar objects are better handled by spatially indicating what to move and where to place it. Addressing the…
This paper focuses on automatic guided vehicle (AGV) trajectory planning in the presence of moving obstacles with known but complicated trajectories. In order to achieve good solution precision, optimality and unification, the concerned…
Rendering volumetric scattering media, including clouds, fog, smoke, and other complex materials, is crucial for realism in computer graphics. Traditional path tracing, while unbiased, requires many long path samples to converge in scenes…
This paper examines the influence of initial guesses on trajectory planning for Unmanned Aerial Vehicles (UAVs) formulated in terms of Optimal Control Problem (OCP). The OCP is solved numerically using the Pseudospectral collocation method.…
Point tracking models often struggle to generalize to real-world videos because large-scale training data is predominantly synthetic$\unicode{x2014}$the only source currently feasible to produce at scale. Collecting real-world annotations,…
Optical and acoustical trapping has been established as a tool for holding and moving microscopic particles suspended in a liquid in a contact-free and non-invasive manner. Opposed to standard microscopic imaging where the probe is fixated,…
The Open Loop Layout Problem (OLLP) seeks to position rectangular cells of varying dimensions on a plane without overlap, minimizing transportation costs computed as the flow-weighted sum of pairwise distances between cells. A key challenge…
We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…
Trapping and manipulation of particles using laser beams has become an important tool in diverse fields of research. In recent years, particular interest is given to the problem of conveying optically trapped particles over extended…
Ultracold atomic gases with uniform density can be created by flat-bottom optical traps. These gases provide an ideal platform to study many-body physics in a system that allows for simple connections with theoretical models and emulation…
Levitated optomechanics, a rapidly expanding field that employs light to monitor and manipulate the mechanical motion of levitated objects, is increasingly relevant across physics, engineering, and other fields. This technique, which…
Open-vocabulary multiple object tracking aims to generalize trackers to unseen categories during training, enabling their application across a variety of real-world scenarios. However, the existing open-vocabulary tracker is constrained by…