Related papers: The Collective Coordinate Fix
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…
Coordination of vehicle routes is a feasible way to ease traffic congestions amid a fixed road infrastructure. Nevertheless, even the optimal route configurations are provided to individual drivers, it is hard to achieve as greedy drivers…
Fitting model parameters to experimental data is a common yet often challenging task, especially if the model contains many parameters. Typically, algorithms get lost in regions of parameter space in which the model is unresponsive to…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
Localization is a topological technique that allows us to make global equivariant computations in terms of local data at the fixed points. For example, we may compute a global integral by summing integrals at each of the fixed points. Or,…
Families of conformal field theories are naturally endowed with a Riemannian geometry which is locally encoded by correlation functions of exactly marginal operators. We show that the curvature of such conformal manifolds can be computed…
The emergence of violations of conformal invariance in the form of non-local operators in the two-dimensional action describing solitons inevitably leads to the introduction of collective coordinates as two dimensional ``wormhole…
Random intersection graphs model networks with communities, assuming an underlying bipartite structure of groups and individuals, where these groups may overlap. Group memberships are generated through the bipartite configuration model.…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
We consider distributed consensus and vehicular formation control problems. Specifically we address the question of whether local feedback is sufficient to maintain coherence in large-scale networks subject to stochastic disturbances. We…
We study kink scattering processes in the (1+1)-dimensional $\varphi^6$ model in the framework of the collective coordinate approximation. We find critical values of the initial velocities of the colliding kinks. These critical velocities…
We present coincidence and common fixed point results of selfmappings satisfying a contraction type in partially ordered metric spaces. As an application, we give an existence theorem for a common solution of integral equations.
The notion of a (metric) modular on an arbitrary set and the corresponding modular space, more general than a metric space, were introduced and studied recently by the author [V. V. Chistyakov, Metric modulars and their application, Dokl.…
In this paper, we provide a decentralized optimal control framework for coordinating connected and automated vehicles (CAVs) in two interconnected intersections. We formulate a control problem and provide a solution that can be implemented…
We consider the problem of minimizing a convex function over the intersection of finitely many simple sets which are easy to project onto. This is an important problem arising in various domains such as machine learning. The main difficulty…
This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…
The pathwise coordinate optimization is one of the most important computational frameworks for high dimensional convex and nonconvex sparse learning problems. It differs from the classical coordinate optimization algorithms in three salient…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
Road intersections are widely recognized as a lead cause for accidents and traffic delays. In a future scenario with a significant adoption of Cooperative Autonomous Vehicles, solutions based on fully automatic, signage-less Intersection…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…