Related papers: A Linear and Exact Algorithm for Whole-Body Collis…
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
This paper considers an optimization problem for a dynamical system whose evolution depends on a collection of binary decision variables. We develop scalable approximation algorithms with provable suboptimality bounds to provide…
We present an algorithm that computes the girth of the intersection graph of $n$ given line segments in the plane in $O(n^{1.483})$ expected time. This is the first such algorithm with $O(n^{3/2-\varepsilon})$ running time for a positive…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, they do not provide…
This article examines a symbolic numerical approach to optimize a vehicle's track for autonomous driving and collision avoidance. The new approach uses the classical cost function definition incorporating the essential aspects of the…
We introduce a method for efficiently computing the exact shortest path to the boundary of a mesh from a given internal point in the presence of self-intersections. We provide a formal definition of shortest boundary paths for…
The design luminosity for the future linear colliders is very demanding and challenging. Beam-based feedback systems will be required to achieve the necessary beam-beam stability and steer the two beams into collision. In particular we have…
We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body…
The problem of solving linear systems is one of the most fundamental problems in computer science, where given a satisfiable linear system $(A,b)$, for $A \in \mathbb{R}^{n \times n}$ and $b \in \mathbb{R}^n$, we wish to find a vector $x…
Lane detection is very important for self-driving vehicles. In recent years, computer stereo vision has been prevalently used to enhance the accuracy of the lane detection systems. This paper mainly presents a multiple lane detection…
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable simulations, Jade offers features including…
We propose an exact nonparametric inference scheme for the detection of nonlinear determinism. The essential fact utilized in our scheme is that, for a linear stochastic process with jointly symmetric innovations, its ordinary least square…
Cooperative driving at signal-free intersections, which aims to improve driving safety and efficiency for connected and automated vehicles, has attracted increasing interest in recent years. However, existing cooperative driving strategies…
In 2016, Chandrasekaran, V\'egh, and Vempala published a method to solve the minimum-cost perfect matching problem on an arbitrary graph by solving a strictly polynomial number of linear programs. However, their method requires a strong…
We present a semi-infinite program (SIP) solver for trajectory optimizations of general articulated robots. These problems are more challenging than standard Nonlinear Program (NLP) by involving an infinite number of non-convex, collision…
A method of embedding partially ordered sets into linear spaces is presented. The problem of finding all orthocomplementations in a finite lattice is reduced to a linear programming problem.
The simulation of large nonlinear dynamical systems, including systems generated by discretization of hyperbolic partial differential equations, can be computationally demanding. Such systems are important in both fluid and kinetic…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
Finding maximum-cardinality matchings in undirected graphs is arguably one of the most central graph problems. For general m-edge and n-vertex graphs, it is well-known to be solvable in $O(m \sqrt{n})$ time. We develop a linear-time…