Related papers: Conformal Slit Mapping Based Spiral Tool Trajector…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
We investigate the use of conformal maps for the acceleration of convergence of the trapezoidal rule and Sinc numerical methods. The conformal map is a polynomial adjustment to the $\sinh$ map, and allows the treatment of a finite number of…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
Subdivision surfaces provide an elegant isogeometric analysis framework for geometric design and analysis of partial differential equations defined on surfaces. They are already a standard in high-end computer animation and graphics and are…
We introduce a numerical method for reconstructing a multidimensional surface using the gradient of the surface measured at some values of the coordinates. The method consists of defining a multidimensional spline function and minimizing…
A mixed basis approach based on density functional theory is employed for low dimensional systems. The basis functions are taken to be plane waves for the periodic direction multiplied by B-spline polynomials in the non-periodic direction.…
Computational analysis with the finite element method requires geometrically accurate meshes. It is well known that high-order meshes can accurately capture curved surfaces with fewer degrees of freedom in comparison to low-order meshes.…
We study the constraints of crossing symmetry and unitarity in general 3D Conformal Field Theories. In doing so we derive new results for conformal blocks appearing in four-point functions of scalars and present an efficient method for…
Simultaneous Localization and Mapping (SLAM) plays an important role in robot autonomy. Reliability and efficiency are the two most valued features for applying SLAM in robot applications. In this paper, we consider achieving a reliable…
We propose a novel and flexible roof modeling approach that can be used for constructing planar 3D polygon roof meshes. Our method uses a graph structure to encode roof topology and enforces the roof validity by optimizing a simple but…
This paper explores the production of a specified object using a combination of machining processes, including milling, shaping, and drilling, while emphasizing the critical role of fixture design in ensuring precision repeatability, and…
Vertical Take-Off and Landing (VTOL) vehicles are gaining traction in both the delivery drone market and passenger transportation, driving the development of Urban Air Mobility (UAM) systems. UAM seeks to alleviate road congestion in dense…
Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines…
Preliminary mission design requires an efficient and accurate approximation to the low-thrust rendezvous trajectories, which might be generally three-dimensional and involve multiple revolutions. In this paper, a new shaping method using…
This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) as input. It maps the 2D strokes onto the 3D surface and…
We analyze actual methods that generate smooth frame fields both in 2D and in 3D. We formalize the 2D problem by representing frames as functions (as it was done in 3D), and show that the derived optimization problem is the one that…
A mechanism to derive non-repetitive coverage path solutions with a proven minimal number of discontinuities is proposed in this work, with the aim to avoid unnecessary, costly end effector lift-offs for manipulators. The problem is…
The paper develops a method for the numerical simulation of a free-surface flow of incompressible viscous fluid around a streamlined body. The body is a rigid stationary construction partially submerged in the fluid. The application we are…
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…