Related papers: Higher Order Continuity for Smooth As-Rigid-As-Pos…

An elastic arch is an archetypal bistable system. Here, we combine elastica theory and photo-mechanical experiments to elucidate the mechanics of an active arch with a spatio-temporally varying preferred curvature $\overline \kappa(s)$. Our…

In [1] is proposed a simplified DeC method, that, when combined with the residual distribution (RD) framework, allows to construct a high order, explicit FE scheme with continuous approximation avoiding the inversion of the mass matrix for…

Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…

We propose a globally-accelerated, first-order method for the optimization of smooth and (strongly or not) geodesically-convex functions in a wide class of Hadamard manifolds. We achieve the same convergence rates as Nesterov's accelerated…

In this article we present a unified way to smooth certain multiple structures called ropes on smooth varieties. We prove that most ropes of arbitrary multiplicity, supported on smooth curves can be smoothed. By a rope being smoothable we…

We present a novel formulation for mesh-free, reduced-order simulation of deformable hyperelastic objects. Existing work in reduced-order elastodynamic simulation represents the input geometry by either meshes, which can be difficult to…

We propose regularization schemes for deformable registration and efficient algorithms for their numerical approximation. We treat image registration as a variational optimal control problem. The deformation map is parametrized by its…

Safe multi-agent motion planning (MAMP) under task-induced constraints is a critical challenge in robotics. Many real-world scenarios require robots to navigate dynamic environments while adhering to manifold constraints imposed by tasks.…

Drops on a vibrating substrate can experience a variety of motion regimes, including directional motion and climbing. The key ingredient to elicit these regimes is simultaneously activating the in-plane and out-of-plane degrees of freedom…

High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast -- such as when the object…

We study the fluid-mediated approach of a deformable axisymmetric object towards a rigid substrate, focusing on how its shape influences contact formation. For low approach velocities and large Stokes numbers, we show that sharper profiles…

Numerical evolution of the spherically symmetric, massive Klein-Gordon field is presented using a new adaptive mesh refinement (AMR) code with fourth order discretization in space and time, along with compactification in space. The system…

In shape optimisation it is desirable to obtain deformations of a given mesh without negative impact on the mesh quality. We propose a new algorithm using least square formulations of the Cauchy-Riemann equations. Our method allows to…

A multi-species generalization of the asymmetric simple exclusion process (ASEP) is studied in ordered sequential and sub-lattice parallel updating schemes. In this model particles hop with their own specific probabilities to their…

In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…

We present a novel, physically-based morphing technique for elastic shapes, leveraging the differentiable material point method (MPM) with space-time control through per-particle deformation gradients to accommodate complex topology…

This work proposes a new adaptive-robust control (ARC) architecture for a class of uncertain Euler-Lagrange (EL) systems where the upper bound of the uncertainty satisfies linear in parameters (LIP) structure. Conventional ARC strategies…

This article proposes a novel computational modeling approach for short-ranged molecular interactions between curved slender fibers undergoing large 3D deformations, and gives a detailed overview how it fits into the framework of existing…

In this paper, we consider the classical robust adaptive beamforming (RAB) problem. Conventionally, this problem is solved either with an off-the-shelf solver like MOSEK or through the well-known RMVB algorithm based on Lagrange multiplier…

One of the most effective orthogonal moments, discrete Racah polynomials (DRPs) and their moments are used in many disciplines of sciences, including image processing, and computer vision. Moments are the projections of a signal on the…