Related papers: Designing robust trajectories by lobe dynamics in …
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Mission designers must study many dynamical models to plan a low-cost spacecraft trajectory that satisfies mission constraints. They routinely use Poincar\'e maps to search for a suitable path through the interconnected web of periodic…
Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of sensor data, thereby exploiting a larger portion of traversable…
In this letter we present a method of constructing dynamical systems with any preassigned number of equilibria by adding symmetry to another system with at least one equilibrium point. If the resulting system is chaotic, we call this…
The transition from order to chaos has been a major subject of research since the work of Poincare, as it is relevant in areas ranging from the foundations of statistical physics to the stability of the solar system. Along this transition,…
Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…
We study the Bohmian dynamics of a large class of bipartite systems of non-ideal qubit systems, by modifying the basic physical parameters of an ideal two-qubit system, made of coherent states of the quantum harmonic oscillator. First we…
The dynamics on a chaotic attractor can be quite heterogeneous, being much more unstable in some regions than others. Some regions of a chaotic attractor can be expanding in more dimensions than other regions. Imagine a situation where two…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
We uncover and characterize different chaotic transport scenarios on perfect periodic surfaces by controlling the chaotic dynamics of particles subjected to periodic external forces in the absence of a ratchet effect. After identifying…
Two recent papers on prediction of chaotic systems, one on multi-view embedding1 , and the second on prediction in projection2 provide empirical evidence to support particular prediction methods for chaotic systems. Multi-view embedding1 is…
In this work we deal with the H\'enon and the Lozi map for a choice of parameters where they show transient chaos. Orbits close to the chaotic saddle behave chaotically for a while to eventually escape to an external attractor.…
Given a chaotic dynamical system and a time interval in which some quantity takes an unusually large average value, what can we say of the trajectory that yields this deviation? As an example, we study the trajectories of the archetypical…
Non-linear dynamics is not a usually covered topic in undergraduate physics courses. However, its importance within classical mechanics and the general theory of dynamical systems is unquestionable. In this work we show that this subject…
Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global…
Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
Routing protocols help in transmitting the sensed data from UAVs monitoring the targets (called target UAVs) to the BS. However, the highly dynamic nature of an autonomous, decentralized UAV network leads to frequent route breaks or traffic…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…