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Given observations of a physical system, identifying the underlying non-linear governing equation is a fundamental task, necessary both for gaining understanding and generating deterministic future predictions. Of most practical relevance…
Designing high-performance electric machines that maintain their efficiency and reliability under uncertain material and operating conditions is crucial for industrial applications. In this paper, we present a novel framework for robust…
Motivated by the challenging formation stabilization problem for mobile robotic teams when no distance or relative displacement measurements are available and each robot can only measure some of those angles formed by rays towards its…
Tensor clustering has become an important topic, specifically in spatio-temporal modeling, due to its ability to cluster spatial modes (e.g., stations or road segments) and temporal modes (e.g., time of the day or day of the week). Our…
We consider the problem of identifying multiway block structure from a large noisy tensor. Such problems arise frequently in applications such as genomics, recommendation system, topic modeling, and sensor network localization. We propose a…
The hexagon approach provides an integrability framework for the computation of structure constants in $\mathcal{N}=4$ super Yang--Mills theory in four dimensions. Three-point functions are cut into two hexagonal patches, on which the…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
We study the bending of a book-like system, comprising a stack of elastic plates coupled through friction. The behavior of this layered system is rich and nontrivial, with a non-additive enhancement of the apparent stiffness and a…
Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities…
We study polynomial optimization problems whose objective has a composition or tensor train structure. These polynomials can be evaluated as a sequence of maps, giving rise to intermediate variables (``states'') of dimension lower than the…
Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present…
Growing soft materials which follow a 3D path in space are critical to applications such as search and rescue and minimally invasive surgery. Here, we present a concept for a single-input growing multi-stable soft material, based on a…
We introduce a method for transforming low-order tensors into higher-order tensors and apply it to tensors defined by graphs and hypergraphs. The transformation proceeds according to a surgery-like procedure that splits vertices, creates…
We describe a new technique for computing lower-bounds on the minimum energy configuration of a planar Markov Random Field (MRF). Our method successively adds large numbers of constraints and enforces consistency over binary projections of…
A tensor is a multi-way array that can represent, in addition to a data set, the expression of a joint law or a multivariate function. As such it contains the description of the interactions between the variables corresponding to each of…
We present a nonlinear regression framework based on tensor algebra tailored to high dimensional contexts where data is scarce. We exploit algebraic properties of a partial tensor product, namely the m-tensor product, to leverage structured…
In this work we develop a numerical method for solving a type of convex graph-structured tensor optimization problems. This type of problems, which can be seen as a generalization of multi-marginal optimal transport problems with…
Using coarse-grained molecular dynamics simulations and a united-monomer model of PE, single well-aligned multi-lamella PE crystals grown in previous work [ACS Macro Letters 12, 808 (2023)] are deformed uniaxially to mimic tensile testing.…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…