Related papers: Efficient Incremental Potential Contact for Actuat…
The Iterative Forecast Planner (IFP) is a geometric planning approach that offers lightweight computations, scalable, and reactive solutions for multi-robot path planning in decentralized, communication-free settings. However, it struggles…
We focus on the problem of sequential decision making in partially observable environments shared with other agents of uncertain types having similar or conflicting objectives. This problem has been previously formalized by multiple…
A novel Material Point Method (MPM) is introduced for addressing frictional contact problems. In contrast to the standard multi-velocity field approach, this method employs a penalty method to evaluate contact forces at the discretised…
We study parallel particle-in-cell (PIC) methods for low-temperature plasmas (LTPs), which discretize kinetic formulations that capture the time evolution of the probability density function of particles as a function of position and…
This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…
We have recently proposed an efficient computation method for the frictionless linear elastic axisymmetric contact of coated bodies [A. Perriot and E. Barthel, J. Mat. Res. 19 (2004) 600]. Here we give a brief description of the approach.…
We present a simple set of data structures, and a collection of methods for constructing and updating the structures, designed to support the use of cohesive elements in simulations of fracture and fragmentation. Initially all interior…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…
Ensuring safe physical interaction between torque-controlled manipulators and humans is essential for deploying robots in everyday environments. Model Predictive Control (MPC) has emerged as a suitable framework thanks to its capacity to…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
An asynchronous, variational method for simulating elastica in complex contact and impact scenarios is developed. Asynchronous Variational Integrators (AVIs) are extended to handle contact forces by associating different time steps to…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
Implicit solvent, coarse-grained models with pairwise interactions can access the largest length and time scales in molecular dynamics simulations, owing to the absence of interactions with a huge number of solvent particles, the smaller…
Contact and related phenomena, such as friction, wear or elastohydrodynamic lubrication, remain as one of the most challenging problem classes in nonlinear solid and structural mechanics. In the context of their computational treatment with…
Simple models for spherical particles with a soft shell have been shown to self-assemble into numerous crystal phases and even quasicrystals. However, most of these models rely on a simple pairwise interaction, which is usually a valid…
Solids facing a plasma are a common situation in many astrophysical systems and laboratory setups. Moreover, many plasma technology applications rely on the control of the plasma-surface interaction. However, presently often a fundamental…
Step-and-project is a popular way to simulate non-penetrated deformable bodies in physically-based animation. First integrating the system in time regardless of contacts and post resolving potential intersections practically strike a good…
Physics-based animation of soft or rigid bodies for real-time applications often suffers from numerical instabilities. We analyse one of the most common sources of unwanted behaviour: the numerical integration strategy. To assess the impact…
We present an elastic simulator for domains defined as evolving implicit functions, which is efficient, robust, and differentiable with respect to both shape and material. This simulator is motivated by applications in 3D reconstruction: it…
Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, but also because of practical computational advantages.…