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Gradient-related first-order methods have become the workhorse of large-scale numerical optimization problems. Many of these problems involve nonconvex objective functions with multiple saddle points, which necessitates an understanding of…
Graph routing problems have been investigated extensively in operations research, computer science and engineering due to their ubiquity and vast applications. In this paper, we study constant approximation algorithms for some variations of…
Parallel robots admit generally several solutions to the direct kinematics problem. The aspects are associated with the maximal singularity free domains without any singular configurations. Inside these regions, some trajectories are…
Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more challenging if the terrain is uneven and causes…
This paper proposes a novel model, named Continuity-Discrimination Convolutional Neural Network (CD-CNN), for visual object tracking. Existing state-of-the-art tracking methods do not deal with temporal relationship in video sequences,…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
In this paper we study the mixed virtual element approximation to an elliptic optimal control problem with boundary observations. The objective functional of this type of optimal control problem contains the outward normal derivatives of…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
Minimum Jerk trajectories have been long thought to be the reference trajectories for human movements due to their impressive similarity with human movements. Nevertheless, minimum jerk trajectories are not the only choice for $C^\infty$…
This paper addresses two minimum reaching time control problems within the context of finite stable systems. The well-known Variable Structure Control (VSC) and Unity Vector Control (UVC) strategies are analyzed, with the primary objective…
Tracking the solution of time-varying variational inequalities is an important problem with applications in game theory, optimization, and machine learning. Existing work considers time-varying games or time-varying optimization problems.…
Minimum distance constraints (minDCs) appear in many geometric optimization problems. They pose major challenges for mixed-integer nonlinear programming (MINLP) due to their reverse-convexity. We develop new algorithms for tightening…
Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
Real-time humanoid teleoperation requires inverse kinematics (IK) solvers that are both responsive and constraint-safe under kinematic redundancy and self-collision constraints. While differential IK enables efficient online retargeting,…
Singularity analysis is essential in robot kinematics, as singular configurations cause loss of control and kinematic indeterminacy. This paper models singularities in bar frameworks as saddle points on constrained manifolds. Given an…
Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…