Related papers: Topologically assisted optimization for rotor desi…

We present a globally convergent method to accelerate density-based topology optimization using projection-based reduced-order models (ROMs) and trust-region methods. To accelerate topology optimization, we replace the large-scale finite…

In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…

Understanding how the brain represents and processes information is crucial for advancing neuroscience and artificial intelligence. Representational similarity analysis (RSA) has been instrumental in characterizing neural representations,…

This paper presents a methodological framework for training, self-optimising, and self-organising surrogate models to approximate and speed up multiobjective optimisation of technical systems based on multiphysics simulations. At the hand…

A topology optimization method is presented for the design of periodic microstructured materials with prescribed homogenized nonlinear constitutive properties over finite strain ranges. The mechanical model assumes linear elastic isotropic…

Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…

In this report, we present the theory on aerodynamics of quadrotors using the well established momentum and blade element theories. From a robotics perspective, the theoretical development of the models for thrust and horizontal forces and…

In this work, we present an efficiently computational approach for designing material micro-structures by means of topology optimization. The central idea relies on using the isogeometric analysis integrated with the parameterized level set…

A topology optimization approach for designing large deformation contact-aided shape morphing compliant mechanisms is presented. Such mechanisms can be used in varying operating conditions. Design domains are described by regular hexagonal…

This paper introduces the Trust-Based Optimization (TBO), a novel extension of the island model in evolutionary computation that replaces conventional periodic migrations with a flexible, agent-driven interaction mechanism based on trust or…

Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…

In pursuit of the time-optimal path tracking (TOPT) trajectory of a robot manipulator along a preset path, a beforehand identified robot dynamic model is usually used to obtain the required optimal trajectory for perfect tracking. However,…

This paper presents an adjoint-assisted, topology-optimization-inspired approach for analyzing topological sensitivities in fluid domains based on porous media formulations -- without directly utilizing the porosity field as a design…

We present a framework for airfoil shape optimization to reduce the trailing edge noise for the design of wind turbine blades. Far-field noise is evaluated using Amiet's theory coupled with the TNO-Blake model to calculate the wall pressure…

In this paper, we propose a shape optimization pipeline for propeller blades, applied to naval applications. The geometrical features of a blade are exploited to parametrize it, allowing to obtain deformed blades by perturbating their…

Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…

In this paper, we propose a topology optimization (TO) framework where the design is parameterized by a set of convex polygons. Extending feature mapping methods in TO, the representation allows for direct extraction of the geometry. In…

With the development of large-scale models, traditional distributed bilevel optimization algorithms cannot be applied directly in low-resource clients. The key reason lies in the excessive computation involved in optimizing both the lower-…

We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…

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…