Related papers: Sequential parametrized topological complexity of …
The topological complexity TC(X) is a numerical homotopy invariant of a topological space X which is motivated by robotics and is similar in spirit to the classical Lusternik-Schnirelmann category of X. Given a mechanical system with…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…
High-dimensional motion planning problems can often be solved significantly faster by using multilevel abstractions. While there are various ways to formally capture multilevel abstractions, we formulate them in terms of fiber bundles.…
Robotic systems are typically composed of various subsystems, such as localization and navigation, each encompassing numerous configurable components (e.g., selecting different planning algorithms). Once an algorithm has been selected for a…
In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…
In this paper we study the complexity of the motion planning problem for control-affine systems. Such complexities are already defined and rather well-understood in the particular case of nonholonomic (or sub-Riemannian) systems. Our aim is…
The requirement that planetary systems be dynamically stable is often used to vet new discoveries or set limits on unconstrained masses or orbital elements. This is typically carried out via computationally expensive N-body simulations. We…
We propose an active learning architecture for robots, capable of organizing its learning process to achieve a field of complex tasks by learning sequences of motor policies, called Intrinsically Motivated Procedure Babbling (IM-PB). The…
Hard sphere systems are often used to model simple fluids. The configuration spaces of hard spheres in a three-dimensional torus modulo various symmetry groups are comparatively simple, and could provide valuable information about the…
Understanding the organization of collective motion in biological systems is an ongoing challenge. In this Paper we consider a minimal model of self-propelled particles with variable speed. Inspired by experimental data from schooling fish,…
The structural properties of dense random packings of identical hard spheres (HS) are investigated. The bond order parameter method is used to obtain detailed information on the local structural properties of the system for different…
We study a natural variant of scheduling that we call \emph{partial scheduling}: In this variant an instance of a scheduling problem along with an integer $k$ is given and one seeks an optimal schedule where not all, but only $k$ jobs, have…
We develop a geometric framework that characterizes the synchronization problem --- the problem of consistently registering or aligning a collection of objects. The theory we formulate characterizes the cohomological nature of…
Navigating mobile robots in social environments remains a challenging task due to the intricacies of human-robot interactions. Most of the motion planners designed for crowded and dynamic environments focus on choosing the best velocity to…
Uncertainties in the real world mean that is impossible for system designers to anticipate and explicitly design for all scenarios that a robot might encounter. Thus, robots designed like this are fragile and fail outside of…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
We give a self-contained and enriched review about topology properties in the rapidly growing field of topological states of matter (TSM). This review is mainly focus on the beautiful interplay of topology mathematics and condensed matter…
We consider the problem of connected coordinated motion planning for a large collective of simple, identical robots: From a given start grid configuration of robots, we need to reach a desired target configuration via a sequence of…
We describe and implement a randomized algorithm that inputs a polyhedron, thought of as the space of states of some automated guided vehicle $\mathcal{R}$, and outputs an explicit system of piecewise linear motion planners for…