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The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…
In this article we consider the problem of tether entanglement for tethered mobile robots. One of the main risks of using a tethered connection between a mobile robot and an anchor point is that the tether may get entangled with the…
Saddle point optimization is a critical problem employed in numerous real-world applications, including portfolio optimization, generative adversarial networks, and robotics. It has been extensively studied in cases where the objective…
Steady states are invaluable in the study of dynamical systems. High-dimensional dynamical systems, due to a separation of time-scales, often evolve towards a lower dimensional manifold $M$. We introduce an approach to locate saddle points…
With the wide spread use of AI-driven systems in the edge (a.k.a edge intelligence systems), such as autonomous driving vehicles, wearable biotech devices, intelligent manufacturing, etc., such systems are becoming very critical for our…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
This article is devoted to investigate the singular profile of the free boundary of two-dimensional incompressible inviscid fluid with external force near the stagnation point. More precisely, given an external force with some polynomial…
In this paper, we study the possibility of designing non-trivial random CSP models by exploiting the intrinsic connection between structures and typical-case hardness. We show that constraint consistency, a notion that has been developed to…
We consider the problem of characterising the generic rigidity of bar-joint frameworks in $\mathbb{R}^d$ in which each vertex is constrained to lie in a given affine subspace. The special case when $d=2$ was previously solved by I. Streinu…
Inspired by the necessity of morphological adaptation in animals, a growing body of work has attempted to expand robot training to encompass physical aspects of a robot's design. However, reinforcement learning methods capable of optimizing…
This paper presents a convexity analysis for the dynamic snake model based on the Potential Energy functional and the Hamiltonian formulation of the classical mechanics. First we see the snake model as a dynamical system whose singular…
In this paper, we explore a broad class of constrained saddle point problems with a bilevel structure, wherein the upper-level objective function is nonconvex-concave and smooth over compact and convex constraint sets, subject to a strongly…
In most machine learning applications, classification accuracy is not the primary metric of interest. Binary classifiers which face class imbalance are often evaluated by the $F_\beta$ score, area under the precision-recall curve, Precision…
The article is devoted to the development of algorithmic methods ensuring efficient complexity bounds for strongly convex-concave saddle point problems in the case when one of the groups of variables is high-dimensional, and the other is…
Literature on Constraint Satisfaction exhibits the definition of several structural properties that can be possessed by CSPs, like (in)consistency, substitutability or interchangeability. Current tools for constraint solving typically…
Configurational, or Eshelby-like, forces are shown to strongly influence the nonlinear dynamics of an elastic rod constrained with a frictionless sliding sleeve at one end and with an attached mass at the other end. The configurational…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical singularity-robust IK with rapidly growing…
In this paper, we propose an improved singularity structure simplification method for hexahedral (hex) meshes using a weighted ranking approach. In previous work, the selection of to-be-collapsed base complex sheets/chords is only based on…
Slender beam-like structures frequently occur in engineering applications and often interact at discrete locations through joints or connectors. Accurate modeling of such interactions is particularly challenging when different numerical…