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We propose a new algorithm to the problem of polygonal curve approximation based on a multiresolution approach. This algorithm is suboptimal but still maintains some optimality between successive levels of resolution using dynamic…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
Realizing computationally complex quantum circuits in the presence of noise and imperfections is a challenging task. While fault-tolerant quantum computing provides a route to reducing noise, it requires a large overhead for generic…
Addressing large-scale indefinite least squares (ILS) problem poses notable computational bottlenecks in the field of numerical linear algebra. State-of-the-art iterative schemes for such problems are predominantly constructed upon the…
A method is developed here for building differentiable three-dimensional manifolds on multicube structures. This method constructs a sequence of reference metrics that determine differentiable structures on the cubic regions that serve as…
Hexahedral meshes are an ubiquitous domain for the numerical resolution of partial differential equations. Computing a pure hexahedral mesh from an adaptively refined grid is a prominent approach to automatic hexmeshing, and requires the…
The most widely used algorithm for floating point complex division, known as Smith's method, may fail more often than expected. This document presents two improved complex division algorithms. We present a proof of the robustness of the…
Streamline-based quad meshing algorithms use smooth cross fields to partition surfaces into quadrilateral regions by tracing cross field separatrices. In practice, re-entrant corners and misalignment of singularities lead to small regions…
A new robust algorithm for the numerical computation of biarcs, i.e. $G^1$ curves composed of two arcs of circle, is presented. Many algorithms exist but are based on geometric constructions, which must consider many geometrical…
Boolean operations are among the most used paradigms to create and edit digital shapes. Despite being conceptually simple, the computation of mesh Booleans is notoriously challenging. Main issues come from numerical approximations that make…
We present a new fully automatic block-decomposition hexahedral meshing algorithm capable of producing high quality meshes that strictly preserve feature curve networks on the input surface and align with an input surface cross-field. We…
Model-based learned iterative reconstruction methods have recently been shown to outperform classical reconstruction algorithms. Applicability of these methods to large scale inverse problems is however limited by the available memory for…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Deep learning based image segmentation methods have achieved great success, even having human-level accuracy in some applications. However, due to the black box nature of deep learning, the best method may fail in some situations. Thus…
Accurate reconstruction of arbitrary-shaped long slender continuum bodies, such as guidewires, catheters and other soft continuum manipulators, is essential for accurate mechanical simulation. However, existing image-based reconstruction…
We develop a new method for constructing "good" designs for computer experiments. The method derives its power from its basic structure that builds large designs using small designs. We specialize the method for the construction of…
In recent years, a distributed Douglas-Rachford splitting method (DDRSM) has been proposed to tackle multi-block separable convex optimization problems. This algorithm offers relatively easier subproblems and greater efficiency for…
This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) as input. It maps the 2D strokes onto the 3D surface and…
This paper addresses a Multi-Agent Collective Construction (MACC) problem that aims to build a three-dimensional structure comprised of cubic blocks. We use cube-shaped robots that can carry one cubic block at a time, and move forward,…
Triangle strips have been widely used for efficient rendering. It is NP-complete to test whether a given triangulated model can be represented as a single triangle strip, so many heuristics have been proposed to partition models into few…