Related papers: Validated numerics for algebraic path tracking
Anew method for finding closed-loop optimal controllers of fractional tracking quadratic optimal control problems is introduced. The optimality conditions for the fractional optimal control problem are obtained. Illustrative examples are…
We present a sample-based motion planning algorithm specialised to a class of underactuated systems using path parameterisation. The structure this class presents under a path parameterisation enables the trivial computation of dynamic…
Methodologies for incorporating the uncertainties characteristic of data-driven object detectors into object tracking algorithms are explored. Object tracking methods rely on measurement error models, typically in the form of measurement…
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…
Providing smooth reference trajectories can effectively increase performance and accuracy of tracking control applications while overshoot and unwanted vibrations are reduced. Trajectory planning computations can often be simplified…
Answering connectivity queries in real algebraic sets is a fundamental problem in effective real algebraic geometry that finds many applications in e.g. robotics where motion planning issues are topical. This computational problem is…
This paper presents a framework capable of accurately and smoothly estimating position, heading, and velocity. Using this high-quality input, we propose a system based on Trajectron++, able to consistently generate precise trajectory…
A type system combining type application, constants as types, union types (associative, commutative and idempotent) and recursive types has recently been proposed for statically typing path polymorphism, the ability to define functions that…
In this paper some algorithms will be presented which can be used for the calculation of zeros of polynomials and eigenvalues of polynomial matrices with a multiplicity larger than one. The numerical values calculated with MATLAB are used…
Artificial neural networks have recently been utilized in many feedback control systems and introduced new challenges regarding the safety of such systems. This paper considers the safe verification problem for a dynamical system with a…
In this paper, we develop a new deflation technique for refining or verifying the isolated singular zeros of polynomial systems. Starting from a polynomial system with an isolated singular zero, by computing the derivatives of the input…
We combine the known methods for univariate polynomial root-finding and for computations in the Frobenius matrix algebra with our novel techniques to advance numerical solution of a univariate polynomial equation, and in particular…
Clausal proofs have become a popular approach to validate the results of SAT solvers. However, validating clausal proofs in the most widely supported format (DRAT) is expensive even in highly optimized implementations. We present a new…
A probability forecast or probabilistic classifier is reliable or calibrated if the predicted probabilities are matched by ex post observed frequencies, as examined visually in reliability diagrams. The classical binning and counting…
In recent years, a rich variety of regularization procedures have been proposed for high dimensional regression problems. However, tuning parameter choice and computational efficiency in ultra-high dimensional problems remain vexing issues.…
We present a new algorithm for reconstructing an exact algebraic number from its approximate value using an improved parameterized integer relation construction method. Our result is consistent with the existence of error controlling on…
We introduce a new class of evaluation linear codes by evaluating polynomials at the roots of a suitable trace function. We give conditions for self-orthogonality of these codes and their subfield-subcodes with respect to the Hermitian…
Transit searches provide a large number of planet candidates. Before attempting follow-up observations, the best effort should be spent in classifying the light-curves, rejecting false alarms and selecting the most likely ones for real…
We study the labeled multi-robot path planning problem in continuous 2D and 3D domains in the absence of obstacles where robots must not collide with each other. For an arbitrary number of robots in arbitrary initial and goal arrangements,…
In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated…