Related papers: A Case Study on Numerical Analysis of a Path Compu…
The use of random sampling in decision-making and control has become popular with the ease of access to graphic processing units that can generate and calculate multiple random trajectories for real-time robotic applications. In contrast to…
In this paper, we propose a metric on the space of finite sets of trajectories for assessing multi-target tracking algorithms in a mathematically sound way. The main use of the metric is to compare estimates of trajectories from different…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
The map-matching is an essential preprocessing step for most of the trajectory-based applications. Although it has been an active topic for more than two decades and, driven by the emerging applications, is still under development. There is…
A path tracking algorithm that adaptively adjusts precision is presented. By adjusting the level of precision in accordance with the numerical conditioning of the path, the algorithm achieves high reliability with less computational cost…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach,…
The Fast Marching Method is a very popular algorithm to compute times-of-arrival maps (distances map measured in time units). Since their proposal in 1995, it has been applied to many different applications such as robotics, medical…
With recent advances in sensing and tracking technology, trajectory data is becoming increasingly pervasive and analysis of trajectory data is becoming exceedingly important. A fundamental problem in analyzing trajectory data is that of…
Approximate computing is a computation domain which can be used to trade time and energy with quality and therefore is useful in embedded systems. Energy is the prime resource in battery-driven embedded systems, like robots. Approximate…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
In recent years, as fractional calculus becomes more and more broadly used in research across different academic disciplines, there are increasing demands for the numerical tools for the computation of fractional…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
Support for arithmetic in multiple precisions and number formats is becoming increasingly common in emerging high-performance architectures. From a computational scientist's perspective, our goal is to determine how and where we can safely…
Estimating the execution time of software components is often mandatory when evaluating the non-functional properties of software-intensive systems. This particularly holds for real-time embedded systems, e.g., in the context of industrial…
We present new algorithms and fast implementations to find efficient approximations for modelling stochastic processes. For many numerical computations it is essential to develop finite approximations for stochastic processes. While the…
Importance sampling of trajectories has proved a uniquely successful strategy for exploring rare dynamical behaviors of complex systems in an unbiased way. Carrying out this sampling, however, requires an ability to propose changes to…
We propose a new algorithm for numerical path tracking in polynomial homotopy continuation. The algorithm is `robust' in the sense that it is designed to prevent path jumping and in many cases, it can be used in (only) double precision…
Modern OOO CPUs have very deep pipelines with large branch misprediction recovery penalties. Speculatively executed instructions on the wrong path can significantly change cache state, depending on speculation levels. Architects often…
We describe a practical algorithm to compute the (oriented) genus of a graph, give results of the program implementing this algorithm, and compare the performance to existing algorithms. The aim of this algorithm is to be fast enough for…