Related papers: Motion, Unit Dual Quaternion and Motion Optimizati…
We show that standard Relativistic Dynamics Equation F=dp/d\tau is only partially covariant. To achieve full Lorentz covariance, we replace the four-force F by a rank 2 antisymmetric tensor acting on the four-velocity. By taking this tensor…
Shifted combinatorial optimization is a new nonlinear optimization framework, which is a broad extension of standard combinatorial optimization, involving the choice of several feasible solutions at a time. It captures well studied and…
In this paper, for the first time, there is comprehensively tackling the problem of biomechanical optimization of a sport of situation such as judo. Starting from the optimization of more simple sports, optimization of this kind of complex…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality and small tracking errors during flight. Optimization-based…
While quantum circuits built from two-particle dual-unitary (maximally entangled) operators serve as minimal models of typically nonintegrable many-body systems, the construction and characterization of dual-unitary operators themselves are…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
Imitation learning for mobile manipulation is a key challenge in the field of robotic manipulation. However, current mobile manipulation frameworks typically decouple navigation and manipulation, executing manipulation only after reaching a…
Task performance in terms of task completion time in teleoperation is still far behind compared to humans conducting tasks directly. One large identified impact on this is the human capability to perform transformations and alignments,…
Quantum robots are described as mobile quantum computers and ancillary systems that move in and interact with arbitrary environments. Their dynamics is given as tasks which consist of sequences of alternating computation and action phases.…
Concepts from mathematical crystallography and group theory are used here to quantize the group of rigid-body motions, resulting in a "motion alphabet" with which to express robot motion primitives. From these primitives it is possible to…
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…
In this paper we introduce a proposal for the kinematics of bodies in uniform circular motion. This model could contribute for the explanation of the two main problems of contemporary cosmology: dark matter and dark energy. We use one of…
This paper presents a unified framework for smooth convex regularization of discrete optimal transport problems. In this context, the regularized optimal transport turns out to be equivalent to a matrix nearness problem with respect to…
Trajectory optimization for motion planning requires good initial guesses to obtain good performance. In our proposed approach, we build a memory of motion based on a database of robot paths to provide good initial guesses. The memory of…
A novel neural network (NN) approach is proposed for constrained optimization. The proposed method uses a specially designed NN architecture and training/optimization procedure called Neural Optimization Machine (NOM). The objective…
This article is an exhaustive revision of concepts and formulas related to quaternions and rotations in 3D space, and their proper use in estimation engines such as the error-state Kalman filter. The paper includes an in-depth study of the…
A high order optimal control strategy implemented in the Koopman operator framework is proposed in this work. The new technique exploits the Koopman representation of the solution of the equations of motion to develop an energy optimal…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…