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This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…

Here is an English summary of the abstract: This research investigates a geometric dynamical mechanism within a specific class of domains that contain a fixed convex core. By using a radial structure that links the boundaries of the core…

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…

We study the fluctuations of random surfaces on a two-dimensional discrete torus. The random surfaces we consider are defined via a nearest-neighbor pair potential which we require to be twice continuously differentiable on a (possibly…

The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…

Color-kinematics duality in the adjoint has proven key to the relationship between gauge and gravity theory scattering amplitude predictions. In recent work, we demonstrated that at four-point tree-level, a small number of color-dual EFT…

This paper proposes a reliable approach for human gait symmetry assessment using a depth camera and two mirrors. The input of our system is a sequence of 3D point clouds which are formed from a setup including a Time-of-Flight (ToF) depth…

We prove the existence of recurrent initial configurations for the rotor walk on many graphs, including Z^d, and planar graphs with locally finite embeddings. We also prove that recurrence and transience of rotor walks are invariant under…

In many systems motion occurs on deformed and deformable surfaces, setting up the possibility for dynamical interactions solely mediated by the coupling of the entities with their environment. Here we study the "two-body" dynamics of robot…

Human gait refers to a daily motion that represents not only mobility, but it can also be used to identify the walker by either human observers or computers. Recent studies reveal that gait even conveys information about the walker's…

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…

We prove that the Gauss curvature and the curvature of the normal connection of any minimal surface in the four dimensional Euclidean space satisfy an inequality, which generates two classes of minimal surfaces: minimal surfaces of general…

This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…

In this paper, we perform a detailed investigation on the various geometrical properties of trapped surfaces and the boundaries of trapped region in general relativity. This treatment extends earlier work on LRS II spacetimes to a general 4…

Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…

As the parameters of a map are varied an attractor may vary continuously in the Hausdorff metric. The purpose of this paper is to explore the continuation of chaotic attractors. We argue that this is not a helpful concept for smooth…

Appearance-based gait recognition have achieved strong performance on controlled datasets, yet systematic evaluation of its robustness to real-world corruptions and silhouette variability remains lacking. We present RobustGait, a framework…

Gait, as one of unique biometric features, has the advantage of being recognized from a long distance away, can be widely used in public security. Considering 3D pose estimation is more challenging than 2D pose estimation in practice , we…

Proper graph coloring assigns different colors to adjacent vertices of the graph. Usually, the number of colors is fixed or as small as possible. Consider applications (e.g. variants of scheduling) where colors represent limited resources…

In this article, we investigate the convergence behavior of two classes of gathering protocols with fixed circulant topologies using tools from dynamical systems. Given a fixed number of mobile entities moving in the Euclidean plane, we…