Related papers: Leveraging three-dimensionality for navigation in …
Wakes of towed and self-propelled bodies in stratified fluids are significantly different from non-stratified wakes. Long time effects of stratification on the development of the wakes of bluff bodies moving at constant speed are well…
This paper extends the family of gap-based local planners to unknown dynamic environments through generating provable collision-free properties for hierarchical navigation systems. Existing perception-informed local planners that operate in…
Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing methods produce depth-averaged 2D layers arranged at discrete…
This paper investigates optimal takeoff trajectory planning for a quadrotor modeled with vertical-plane rigid body dynamics in an uncertain, one-dimensional wind-field. The wind-field varies horizontally and propagates across an operating…
Predicting three-dimensional (3D) turbulent flows around bridge piers is a prerequisite for assessing local scour, a primary cause of infrastructure failure. While Computational Fluid Dynamics (CFD) captures complex flow features - such as…
Navigation is believed to be controlled by at least two partially dissociable systems in the brain. The cognitive map informs an organism of its location and bearing, updated by integrating vestibular self-motion or predicting distances to…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
Oscillating foils in synchronized pitch/heave motions can be used to harvest hydrokinetic energy. By understanding the wake structure and its correlation with the foil kinematics, predictive models for how foils can operate in array…
Recent advances in end-to-end autonomous driving leverage multi-view images to construct BEV representations for motion planning. In motion planning, autonomous vehicles need considering both hard constraints imposed by geometrically…
A swimming microorganism stirs the surrounding fluid, creating a flow field that governs not only its locomotion and nutrient uptake, but also its interactions with other microorganisms and the environment. Despite its fundamental…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…
Many fluid-dynamical systems met in nature are quasi-two-dimensional: they are constrained to evolve in approximately two dimensions with little or no variation along the third direction. This has a drastic effect in the flow evolution…
This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees. This layered planning framework is composed of a high-level symbolic task…
A three-dimensional round liquid jet within a low-speed coaxial gas flow is numerically simulated and explained via vortex dynamics ($\lambda_2$ method). The instabilities on the liquid-gas interface reflect well the vortex interactions…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Diffusion models can be used as a motion planner by sampling from a distribution of possible futures. However, the samples may not satisfy hard constraints that exist only implicitly in the training data, e.g., avoiding falls or not…
Turbulence in three dimensions ($3$D) supports vortex stretching that has long been known to accomplish energy transfer to small scales. Moreover, net energy transfer from large-scale, forced, unstable flow-gradients to smaller scales is…
Fluid-structure interaction is common in engineering and natural systems, where floating-body motion is governed by added mass, drag, and background flows. Modeling these dissipative dynamics is difficult: black-box neural models regress…
We present a dynamic decomposition analysis of the wake flow in fluid-structure interaction (FSI) systems under both laminar and turbulent flow conditions. Of particular interest is to provide the significance of low-dimensional wake flow…