Related papers: A Dynamical Trap Made of Target-Tracking Chasers
Kinetic traps are a notorious problem in equilibrium statistical mechanics, where temperature quenches ultimately fail to bring the system to low energy configurations. Using multifarious self-assembly as a model system, we introduce a…
Cyclic pursuit frameworks provide an efficient way to create useful global behaviors out of pairwise interactions in a collective of autonomous robots. Earlier work studied cyclic pursuit with a constant bearing (CB) pursuit law, and has…
This paper investigates the difference between the circular and elliptical cases in one-on-one pursuit and evasion problems. Using the simultaneous differential equation derived by Barton and Eliezer, we derive a dynamical system based on…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving…
For compressive sensing of dynamic sparse signals, we develop an iterative pursuit algorithm. A dynamic sparse signal process is characterized by varying sparsity patterns over time/space. For such signals, the developed algorithm is able…
A new strategy for trapping quantum particles is presented, which behaves like an effective harmonic oscillator potential trap wherever is desired. The approach is based on harmonic contraction and expansion of the system around a fixed…
A novel model for dynamical traps in intermittent human control is proposed. It describes probabilistic, step-wise transitions between two modes of a subject's behavior - active and passive phases in controlling an object's dynamics - using…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
We consider a pursuit-evasion scenario involving a group of pursuers and a single evader in a two-dimensional unbounded environment. The pursuers aim to capture the evader in finite time while ensuring the evader remains enclosed within the…
Tracking multiple moving objects in real-time in a dynamic threat environment is an important element in national security and surveillance system. It helps pinpoint and distinguish potential candidates posing threats from other normal…
Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…
Grasping moving objects is a challenging task that requires multiple submodules such as object pose predictor, arm motion planner, etc. Each submodule operates under its own set of meta-parameters. For example, how far the pose predictor…
This work introduces a co-capture system for multi-animal visual data acquisition using conventional cameras and event cameras. Event cameras offer multiple advantages over frame-based cameras, such as a high temporal resolution and…
Tracking in gigapixel scenarios holds numerous potential applications in video surveillance and pedestrian analysis. Existing algorithms attempt to perform tracking in crowded scenes by utilizing multiple cameras or group relationships.…
In active visual tracking, it is notoriously difficult when distracting objects appear, as distractors often mislead the tracker by occluding the target or bringing a confusing appearance. To address this issue, we propose a mixed…
The use of a wire mesh facilitates creation of multiple optical traps for manipulation of small micron or sub-micron particles. Such an array of optical traps can be easily controlled. The trap that is formed in this manner is a continuous…
We use a simple model to extend network models for activated dynamics to a continuous landscape with a well-defined notion of distance and a direct connection to many-body systems. The model consists of a tracer in a high-dimensional funnel…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…