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Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…
We consider the following "multiway cut packing" problem in undirected graphs: we are given a graph G=(V,E) and k commodities, each corresponding to a set of terminals located at different vertices in the graph; our goal is to produce a…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Folding is emerging as a promising manufacturing process to transform flat materials into functional structures, offering efficiency by reducing the need for welding, gluing, and molding, while minimizing waste and enabling automation.…
The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Circuit cutting is a promising technique that leverages both quantum and classical computational resources, enabling the practical execution of large quantum circuits on noisy intermediate-scale quantum (NISQ) hardware. Recent approaches…
Parallel transport is an important step in many discrete algorithms for statistical computing on manifolds. Numerical methods based on Jacobi fields or geodesics parallelograms are currently used in geometric data processing. In this last…
In industrial Internet environments, mobile robots must generate collision-free global routes under stochastic obstacle layouts and random perturbations in commanded linear and angular velocities. This paper models a differential-drive…
We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…
Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space…
Graph drawing addresses the problem of finding a layout of a graph that satisfies given aesthetic and understandability objectives. The most important objective in graph drawing is minimization of the number of crossings in the drawing, as…
A large number of applications in wireless sensor networks include projecting a vector of noisy observations onto a subspace dictated by prior information about the field being monitored. In general, accomplishing such a task in a…
Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving high fidelity in such systems requires balancing the trade-offs…
We introduce a high-throughput platform that enables simultaneous, parallel testing of six bistable beams via programmable motion of a rotating disk. By prescribing harmonic angular dynamics, the platform explores the phase space of angular…
Real-world manipulation problems in heavy clutter require robots to reason about potential contacts with objects in the environment. We focus on pick-and-place style tasks to retrieve a target object from a shelf where some `movable'…
Service providers employ different transport technologies like PDH, SDH/SONET, OTN, DWDM, Ethernet, MPLS-TP etc. to support different types of traffic and service requirements. Dynamic service provisioning requires the use of on-line…
This article is concerned with a geometric tool given by a pair of projector operators defined by almost product structures on finite dimensional manifolds, polarized by a distribution of constant rank and also endowed with some geometric…
Closed (and simply-connected) manifolds whose dimensions are greater than 4 are classified via sophisticated algebraic and abstract theory such as surgery theory and homotopy theory. It is difficult to handle 3 or 4-dimensional closed…