Related papers: A Simple Proof that Ricochet Robots is PSPACE-Comp…
We present LM-Reloc -- a novel approach for visual relocalization based on direct image alignment. In contrast to prior works that tackle the problem with a feature-based formulation, the proposed method does not rely on feature matching…
Herein, a methodology is developed to replicate functions, measures and stochastic processes onto a compact metric space. Many results are easily established for the replica objects and then transferred back to the original ones. Two…
This paper proves the NP-completeness of the reachability problem for the class of flat counter machines with difference bounds and, more generally, octagonal relations, labeling the transitions on the loops. The proof is based on the fact…
We consider the problem of warehouse multi-robot automation system in discrete-time and discrete-space configuration with focus on the task allocation and conflict-free path planning. We present a system design where a centralized server…
A key factor in the economic efficiency of satellites is their availability in orbit. Replacing standardized building blocks, such as empty fuel tanks or outdated electronic modules, could greatly extend the satellites' lifetime. This,…
Modal logics are widely used in computer science. The complexity of modal satisfiability problems has been investigated since the 1970s, usually proving results on a case-by-case basis. We prove a very general classification for a wide…
In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
In this article, we report on an exact closed-form solution for the displacement in an elastic homogeneous half-space elicited by a downward vertical point source moving with constant velocity over the surface of the medium. The problem…
We study exact matrix completion from partially available data with hidden connectivity patterns. Exact matrix completion was shown to be possible recently by Cosse and Demanet in 2021 with Lasserre's relaxation using the trace of the…
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that…
This research focuses on developing reinforcement learning approaches for the locomotion generation of small-size quadruped robots. The rat robot NeRmo is employed as the experimental platform. Due to the constrained volume, small-size…
Recent breakthroughs in generative simulation have harnessed Large Language Models (LLMs) to generate diverse robotic task curricula, yet these open-loop paradigms frequently produce linguistically coherent but physically infeasible goals,…
Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots using constrained reinforcement learning, addressing their…
We address the stabilization of linear, time-varying parabolic PDEs using finite-dimensional receding horizon controls (RHCs) derived from reduced-order models (ROMs). We first prove exponential stability and suboptimality of the…
We present a dichotomy for structures $A$ that are preserved by primitive actions of $S_{\omega} = \text{Sym}({\mathbb N})$: such a structure primitively positively constructs all finite structures and the constraint satisfaction problem is…
Reorientation (turning in plane) plays a critical role for all robots in any field application, especially those that in confined spaces. While important, reorientation remains a relatively unstudied problem for robots, including limbless…
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is…
A lot of research activity has recently taken place around the chase procedure, due to its usefulness in data integration, data exchange, query optimization, peer data exchange and data correspondence, to mention a few. As the chase has…
We show that the barrier function in Root's solution to the Skorokhod embedding problem is continuous and finite at every point where the target measure has no atom and its absolutely continuous part is locally bounded away from zero.