Related papers: A novel conjunction filter based on the minimum di…
Cooperative localization is a promising solution to improve the accuracy and overcome the shortcomings of GNSS. Cooperation is often achieved by measuring the distance between users. To optimally integrate a distance measurement between two…
Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…
In automated driving, crash mitigation is crucial to ensure passenger safety. Accurate avoidance requires precise knowledge of the object's position and orientation. However, sensor noise and occlusions often result in tracking and…
We consider the problem of a particle traveling from an initial configuration to a final configuration (given by a point in the plane along with a prescribed velocity vector) in minimum time with non-homogeneous velocity and with…
We study the problem of computing a shortest tour that visits a sequence of $k$ polygons $P_1,\dots, P_k$ with a total number of $n$ vertices. A tour is an oriented curve such that there exist points $p_i\in P_i$ for all $i$ where $p_i$…
We present a matched-filter based algorithm for transit detection and its application to simulated COROT light curves. This algorithm stems from the work by Bord\'e, Rouan & L\'eger (2003). We describe the different steps we intend to take…
Quantifying the degree of dissimilarity between two probability distributions on a finite metric space is a fundamental task in Computer Science and Computer Vision. A natural dissimilarity measure based on optimal transport is the Earth…
We propose perturbed proximal algorithms that can provably escape strict saddles for nonsmooth weakly convex functions. The main results are based on a novel characterization of $\epsilon$-approximate local minimum for nonsmooth functions,…
Particle filters are a powerful and flexible tool for performing inference on state-space models. They involve a collection of samples evolving over time through a combination of sampling and re-sampling steps. The re-sampling step is…
We study shortest paths and their distances on a subset of a Euclidean space, and their approximation by their equivalents in a neighborhood graph defined on a sample from that subset. In particular, we recover and extend the results of…
For two multisets $S$ and $T$ of points in $[\Delta]^2$, such that $|S| = |T|= n$, the earth-mover distance (EMD) between $S$ and $T$ is the minimum cost of a perfect bipartite matching with edges between points in $S$ and $T$, i.e.,…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
An algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. It is based on assembling a complete trajectory from motion primitives called jerk segments,…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
We develop a systematic method to calculate the trace distance between two reduced density matrices in 1+1 dimensional quantum field theories. The approach exploits the path integral representation of the reduced density matrices and an ad…
Contraction analysis considers the distance between two adjacent trajectories. If this distance is contracting, then trajectories have the same long-term behavior. The main advantage of this analysis is that it is independent of the…
While building up a catalog of Earth orbiting objects, if the available optical observations are sparse, not deliberate follow ups of specific objects, no orbit determination is possible without previous correlation of observations obtained…
Forecasting ocean drift trajectories are important for many applications, including search and rescue operations, oil spill cleanup and iceberg risk mitigation. In an operational setting, forecasts of drift trajectories are produced based…
The amount of debris in orbit has increased significantly over the years. With the recent growth of interest in space exploration, conjunction assessment has become a central issue. One important metric to evaluate conjunction risk is the…
This paper derives new results for the analysis of nonlinear systems by extending contraction theory in the framework of vector distances. A new tool, vector contraction analysis utilizing a notion of the vector-valued norm which evidently…