Related papers: Singularity Distance Computations for 3-RPR Manipu…
This paper proposes a mechanism to fine-tune convex approximations of probabilistic reachable sets (PRS) of uncertain dynamic systems. We consider the case of unbounded uncertainties, for which it may be impossible to find a bounded…
Singularity analysis is essential in robot kinematics, as singular configurations cause loss of control and kinematic indeterminacy. This paper models singularities in bar frameworks as saddle points on constrained manifolds. Given an…
The Distance Geometry Problem (DGP) seeks to find positions for a set of points in geometric space when some distances between pairs of these points are known. The so-called discretization assumptions allow to discretize the search space of…
Fusion of heterogeneous extroceptive sensors is the most effient and effective way to representing the environment precisely, as it overcomes various defects of each homogeneous sensor. The rigid transformation (aka. extrinsic parameters)…
We study the Monotone Sliding Reconfiguration (MSR) problem, in which $\textit{labeled}$ pairwise interior-disjoint objects in a planar workspace need to be brought $\textit{one by one}$ from their initial positions to given target…
This paper proposes a unified approach for dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a non-minimal description in terms of…
Estimation of nonlinear dynamic models from data poses many challenges, including model instability and non-convexity of long-term simulation fidelity. Recently Lagrangian relaxation has been proposed as a method to approximate simulation…
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…
This work considers the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot has access to a relative bearing measurement taken from the local…
Consider a matrix polynomial $P \left( \lambda \right)= A_0 + \lambda A_1 + \ldots + \lambda^d A_d$, with $A_0,\ldots, A_d$ complex (or real) matrices with a certain structure. In this paper we discuss an iterative method to numerically…
This work presents an extrinsic parameter estimation algorithm between a 3D LIDAR and a Projective Camera using a marker-less planar target, by exploiting Planar Surface Point to Plane and Planar Edge Point to back-projected Plane geometric…
Motion Planning (MP) is a critical challenge in robotics, especially pertinent with the burgeoning interest in embodied artificial intelligence. Traditional MP methods often struggle with high-dimensional complexities. Recently neural…
The calibration of sensors comprising inertial measurement units is crucial for reliable and accurate navigation. Such calibration is usually performed with specialized expensive rotary tables or requires sophisticated signal processing…
The aim of this paper is to give a detailed examination of the input and output singularities of a 3-RUU parallel manipulator in the translational operation mode. This task is achieved by using algebraic constraint equations. For this type…
Computing intrinsic distances on discrete surfaces is at the heart of many minimization problems in geometry processing and beyond. Solving these problems is extremely challenging as it demands the computation of on-surface distances along…
Many applications using large datasets require efficient methods for minimizing a proximable convex function subject to satisfying a set of linear constraints within a specified tolerance. For this task, we present a proximal projection…
Finding the distance to singularity for a matrix is a ubiquitous problem in numerical linear algebra, and is elegantly solved by the Eckart-Young-Mirsky theorem. Its structured variant naturally emerges when one considers structured…
Using orthogonal projections, we investigate distance of a given elasticity tensor to classes of elasticity tensors exhibiting particular material symmetries. These projections depend on the orientation of the elasticity tensor, hence the…
We propose and study an algorithm for computing a nearest passive system to a given non-passive linear time-invariant system (with much freedom in the choice of the metric defining `nearest', which may be restricted to structured…
This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular…