Related papers: A space-time tracking algorithm for high occupancy…
The Muon Spectrometer (MS) of the ALICE experiment at LHC is equipped with a HLT (High Level Trigger), whose aim is to improve the accuracy of the trigger cuts delivered at the L0 stage. A computational challenge of real-time event…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
Detector mechanics can play a significant role in a detector's performance, improvements typically require in-depth study of total mass, novel ways to reduce the total mass, as well as more integrated design concepts to save on material…
Modern online multiple object tracking (MOT) methods usually focus on two directions to improve tracking performance. One is to predict new positions in an incoming frame based on tracking information from previous frames, and the other is…
Major players in the global aerospace industry are shifting their focus toward achieving net carbon-neutral operations by 2050. A considerable portion of the overall carbon emission reduction is expected to come from new aircraft…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Imitation learning algorithms have been interpreted as variants of divergence minimization problems. The ability to compare occupancy measures between experts and learners is crucial in their effectiveness in learning from demonstrations.…
Simulating physics processes and detector responses is essential in high energy physics and represents significant computing costs. Generative machine learning has been demonstrated to be potentially powerful in accelerating simulations,…
Precision measurements at the LHC and future colliders require theory predictions with uncertainties at the percent level for many observables. Theory uncertainties due to the perturbative truncation are particularly relevant and must be…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Reconstructing the trajectories of charged particles in high-energy collisions requires high precision to ensure reliable event reconstruction and accurate downstream physics analyses. In particular, both precise hit selection and…
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…
This paper investigates the problem of impact-time-control and proposes a learning-based computational guidance algorithm to solve this problem. The proposed guidance algorithm is developed based on a general prediction-correction concept:…
Multiple object tracking (MOT) in Unmanned Aerial Vehicle (UAV) videos is important for diverse applications in computer vision. Current MOT trackers rely on accurate object detection results and precise matching of target reidentification…
We propose a simple quantum algorithm for simulating highly oscillatory quantum dynamics, which does not require complicated quantum control logic for handling time-ordering operators. To our knowledge, this is the first quantum algorithm…
Designing the next generation colliders and detectors involves solving optimization problems in high-dimensional spaces where the optimal solutions may nest in regions that even a team of expert humans would not explore. Resorting to…
Provably safe and scalable multi-vehicle trajectory planning is an important and urgent problem. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing such safety-critical systems and has been successfully applied to several…
This paper presents a simple method to boost the robustness of quadrotors in trajectory tracking. The presented method features a high-gain disturbance observer (HGDO) that provides disturbance estimates in real-time. The estimates are then…
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.…
This paper describes a method for scheduling the events of a switched system to achieve an optimal performance. The approach has guarantees on convergence and computational complexity that parallel derivative-based iterative optimization…