Related papers: An algorithm for dynamic vehicle-track-structure i…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
Surrogate safety measures in the form of conflict indicators are indispensable components of the proactive traffic safety toolbox. Conflict indicators can be classified into past-trajectory-based conflicts and predicted-trajectory-based…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
We investigate one-dimensional harmonically trapped two-component systems for repulsive interaction strengths ranging from the non-interacting to the strongly interacting regime for Fermi-Fermi mixtures. A new and powerful mapping between…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations during tasks that involve static obstacle avoidance, we propose…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Drive-by inspection for bridge health monitoring has gained increasing attention over the past decade. This method involves analysing the coupled vehicle-bridge response, recorded by an instrumented inspection vehicle, to assess structural…
Dynamic substructuring (DS) methods encompass a range of techniques to decompose large structural systems into multiple coupled subsystems. This decomposition has the principle benefit of reducing computational time for dynamic simulation…
In this paper, we consider a finite difference grid-based semi-Lagrangian approach in solving the Vlasov-Poisson (VP) system. Many of existing methods are based on dimensional splitting, which decouples the problem into solving linear…
Fluid-structure interaction (FSI) systems involve distinct physical domains, fluid and solid, governed by different partial differential equations and coupled at a dynamic interface. While learning-based solvers offer a promising…
In the emerging field of urban digital twins (UDTs), advancing intelligent road inspection (IRI) vehicles with automatic road crack detection systems is essential for maintaining civil infrastructure. Over the past decade, deep…
A quantitative understanding of dynamic lane-changing (LC) interaction patterns is indispensable for improving the decision-making of autonomous vehicles, especially in mixed traffic with human-driven vehicles. This paper develops a novel…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
Finite element methods and kinematically coupled schemes that decouple the fluid velocity and structure displacement have been extensively studied for incompressible fluid-structure interaction (FSI) over the past decade. While these…
Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed variable-time-step spatio-temporal…
Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…
Drug combinations offer therapeutic benefits but also carry the risk of adverse drug-drug interactions (DDIs), especially under complex molecular structures. Accurate DDI event prediction requires capturing fine-grained inter-drug…
Contact interfaces with dry friction are frequently used in turbomachinery. Dry friction damping produced by the sliding surfaces of these interfaces reduces the amplitude of bladed-disk vibration. The relative displacements at these…