Related papers: OptiTrap: Optimal Trap Trajectories for Acoustic L…

This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…

The physical world consists of spatially varying media, such as the atmosphere and the ocean, in which light and sound propagates along non-linear trajectories. This presents a challenge to existing ray-tracing based methods, which are…

In this study a new approach is proposed for the generation of aircraft trajectories. The relative guidance of an aircraft, which is aimed to join in minimum time the track of a leader aircraft, is particularly considered. In a first place,…

Unmanned aerial vehicle (UAV) communications has drawn significant interest recently due to many advantages such as low cost, high mobility, and on-demand deployment. This paper addresses the issue of physical-layer security in a UAV…

In this paper, we consider a formulation of nonlinear constrained optimization problems. We reformulate it as a time-varying optimization using continuous-time parametric functions and derive a dynamical system for tracking the optimal…

Inspired by natural cellular materials such as trabecular bone, lattice structures have been developed as a new type of lightweight material. In this paper we present a novel method to design lattice structures that conform with both the…

Arrays of individual atoms trapped in optical microtraps with micrometer-scale sizes have emerged as a fundamental, versatile, and powerful platform for quantum sciences and technologies. This platform enables the bottom-up engineering of…

Imitation learning is a prominent paradigm for robotic manipulation. However, existing visual imitation methods map 2D image observations directly to 3D action outputs, imposing a 2D-3D mismatch that hinders spatial reasoning and degrades…

Animating clipart images with seamless motion while maintaining visual fidelity and temporal coherence presents significant challenges. Existing methods, such as AniClipart, effectively model spatial deformations but often fail to ensure…

Solving point-wise feature correspondence in visual data is a fundamental problem in computer vision. A powerful model that addresses this challenge is to formulate it as graph matching, which entails solving a Quadratic Assignment Problem…

Scalable trapped-ion quantum computing requires fast and reliable transport of ions through complex, segmented radiofrequency trap architectures without inducing excessive motional excitation. We present a numerical toolchain for the…

This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…

The optimal transport problem has many applications in machine learning, physics, biology, economics, etc. Although its goal is very clear and mathematically well-defined, finding its optimal solution can be challenging for large datasets…

We consider applications involving a large set of instances of projecting points to polytopes. We develop an intuition guided by theoretical and empirical analysis to show that when these instances follow certain structures, a large…

Superconducting atom chips have very significant advantages in realizing trapping structures for ultracold atoms compared to conventional atom chips. We extend these advantages further by developing the ability to dynamically tailor the…

We study the uniqueness and accuracy of the numerical solution of the problem of reconstruction of the shape and trajectory of a reflecting obstacle moving in an inhomogeneous medium from travel times, start and end points, and initial…

Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been shown to be a viable approach that can be made to support…

Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…

Crossed optical dipole traps (ODTs) provide three-dimensional confinement of cold atoms and other optically trappable particles. However, the need to maintain the intersection of the two trapping beams poses strict requirements on alignment…

Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to…