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The minimum directed feedback vertex set problem consists in finding the minimum set of vertices that should be removed in order to make a directed graph acyclic. This is a well-known NP-hard optimization problem with applications in…
Vector fields are advantageous in handling nonholonomic motion planning as they provide reference orientation for robots. However, additionally incorporating curvature constraints becomes challenging, due to the interconnection between the…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
We investigate the structure of discontinuities in clearance (or minimum time) functions for nonlinear control systems with general, closed obstacles (or targets). We establish general results regarding interactions between admissible…
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
This paper presents an alternative approach to the study of distance rigidity in networks of mobile agents, based on a subframework scheme. The advantage of the proposed strategy lies in expressing framework rigidity, which is inherently…
When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely, singular minimizing trajectories of the…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…
We propose to compute approximations to general invariant sets in dynamical systems by minimizing the distance between an appropriately selected finite set of points and its image under the dynamics. We demonstrate, through computational…
This paper offers a contemporary and comprehensive perspective on the classical algorithms utilized for the solution of minimum-time problem for linear systems (MTPLS). The use of unified notations supported by visual geometric…
We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving…
Although a wide variety of deep neural networks for robust Visual Odometry (VO) can be found in the literature, they are still unable to solve the drift problem in long-term robot navigation. Thus, this paper aims to propose novel deep…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
We consider $n$-dimensional discrete motions such that any two neighbouring positions correspond in a pure rotation ("rotating motions"). In the Study quadric model of Euclidean displacements these motions correspond to quadrilateral nets…
As a starting point of our research, we show that, for a fixed order $\gamma\geq 1$, each local minimizer of a rather general nonsmooth optimization problem in Euclidean spaces is either M-stationary in the classical sense (corresponding to…
Recent advancements in image animation have utilized diffusion models to breathe life into static images. However, existing controllable frameworks typically rely on Lagrangian motion guidance, where optical flow is estimated relative to…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…
This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood…