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Non-recurrent traffic congestion (NRTC) usually brings unexpected delays to commuters. Hence, it is critical to accurately detect and recognize the NRTC in a real-time manner. The advancement of road traffic detectors and loop detectors…

A collision-based hybrid algorithm for the discrete ordinates approximation of the neutron transport equation is extended to the multigroup setting. The algorithm uses discrete energy and angle grids at two different resolutions and…

The numerical solution of kinetic equations is challenging due to the high dimensionality of the underlying phase space. In this paper, we develop a dynamical low-rank method based on the projector-splitting integrator in tensor-train (TT)…

The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…

In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…

The precision, stability, and performance of lightweight high-strength steel structures in heavy machinery is affected by their highly nonlinear dynamics. This, in turn, makes control more difficult, simulation more computationally…

This work introduces a new approach for accelerating the numerical analysis of time-domain partial differential equations (PDEs) governing complex physical systems. The methodology is based on a combination of a classical reduced-order…

This study presents a rigid-deformation decomposition framework for vehicle collision dynamics that mitigates the spectral bias of implicit neural representations, that is, coordinate-based neural networks that directly map spatio-temporal…

Tracking of multiple objects is an important application in AI City geared towards solving salient problems related to safety and congestion in an urban environment. Frequent occlusion in traffic surveillance has been a major problem in…

Structural monitoring for complex built environments often suffers from mismatch between design, laboratory testing, and actual built parameters. Additionally, real-world structural identification problems encounter many challenges. For…

A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…

This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…

Physics-governed models are increasingly paired with machine learning for accelerated predictions, yet most "physics--informed" formulations treat the governing equations as a penalty loss whose scale and meaning are set by heuristic…

A critical challenge in the data-driven modeling of dynamical systems is producing methods robust to measurement error, particularly when data is limited. Many leading methods either rely on denoising prior to learning or on access to large…

In this paper, we propose a method for tracking structures (e.g., ventricles and myocardium) in cardiac images (e.g., magnetic resonance) by propagating forward in time a previous estimate of the structures via a new deformation estimation…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…

Living creatures and machines interact with the world through their morphology and motions. Recent advances in creating bio-inspired morphing robots and machines have led to the study of variable geometry truss (VGT), structures that can…

Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…

This paper presents the development of a new collaborative road profile estimation and active suspension control framework in connected vehicles, where participating vehicles iteratively refine the road profile estimation and enhance…