Related papers: Minimum-time interception of a moving target by a …
We investigate theoretically the motion of tiny heavy passive particles transported in a plane inviscid flow consisting of two point vortices, in order to understand particle dispersion and trapping during vortex interaction. In spite of…
We consider the nonprehensile object transportation task known as the waiter's problem - in which a robot must move an object on a tray from one location to another - when the transported object has uncertain inertial parameters. In…
Model rockets have been employed in student projects, but very few papers in aerospace education offer concise summaries of activities at university-course levels. This paper aims to address this gap in the literature. The rockets used by…
We introduce a dynamic vehicle routing problem in which a single vehicle seeks to guard a circular perimeter against radially inward moving targets. Targets are generated uniformly as per a Poisson process in time with a fixed arrival rate…
We study the incompressible limit of the porous medium equation with a reaction term that is non-monotone with respect to the pressure variable. More specifically we consider reaction terms that are either bistable or monostable. We show…
Submovements are ballistic components of human motion constituting a large part of motor interaction and arising from the cyclical and overlapping cognitive processes of perception, motor planning, and motor execution. Extracting…
We study a time minimization problem on the group of motions of a plane with admissible control in a half-disk. The considered control system describes a model of a car that can move forward on a plane and turn in place. Optimal…
This paper introduces a nonlinear optimal guidance framework for guiding a pursuer to intercept a moving target, with an emphasis on real-time generation of optimal feedback control for a nonlinear optimal control problem. Initially,…
We consider the evolution of a small rigid body in an incompressible viscous fluid filling the whole space $\rline^3$. When the small rigid body shrinks to a "massless" point in the sense that its density is constant, we prove that the…
We extend a well-studied ODE model for collective behaviour by considering anisotropic interactions among individuals. Anisotropy is modelled by limited sensorial perception of individuals, that depends on their current direction of motion.…
In this paper we examine how Lagrangian techniques can be used to compute underapproximations and overapproximation of the finite-time horizon, stochastic reach-avoid level sets for discrete-time, nonlinear systems. This approach is…
Extreme mass-ratio inspirals, in which solar-mass compact bodies spiral into supermassive black holes, are an important potential source for gravitational wave detectors. Because of the extreme mass-ratio, one can model these systems using…
In the recent years, mater-wave interferometry has attracted growing attention due to its unique suitability for high-precision measurements and study of fundamental aspects of quantum theory. Diffraction and interference of matter waves…
This work presents a novel rehabilitation framework designed for a therapist, wearing an inertial measurement unit (IMU) suit, to virtually interact with a lower-limb exoskeleton worn by a patient with motor impairments. This framework aims…
We study here the impulse control minimax problem. We allow the cost functionals and dynamics to be unbounded and hence the value functions can possibly be unbounded. We prove that the value function of the problem is continuous. Moreover,…
We aim at understanding transport in porous materials including regions with both high and low diffusivities. For such scenarios, the transport becomes structured (here: {\em micro-macro}). The geometry we have in mind includes regions of…
Consider the dynamics of a gas bubble in an inviscid, compressible liquid with surface tension. Kinematic and dynamic boundary conditions couple the bubble surface deformation dynamics with the dynamics of waves in the fluid. This system…
The Muskat problem models the filtration of two incompressible immiscible fluids of different characteristics in porous media. In this paper, we consider both the 2D and 3D setting of two fluids of different constant densities and different…
The problem of the time required for a diffusing molecule, within a large bounded domain, to first locate a small target is prevalent in biological modeling. Here we study this problem for a small spherical target. We develop uniform in…
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…