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Conjunction analysis and maneuver planning for spacecraft collision avoidance remains a manual and time-consuming process, typically involving repeated forward simulations of hand-designed maneuvers. With the growing density of satellites…
Mobile robots in dynamic environments require fast planning, especially when onboard computational resources are limited. While classic potential field based algorithms may suffice in simple scenarios, in most cases algorithms able to…
Robot manipulation in unstructured environments requires efficient and reliable Swept Volume Collision Detection (SVCD) for safe motion planning. Traditional discrete methods potentially miss collisions between these points, whereas SVCD…
This study presents an innovative direct numerical simulation approach for complex particle systems with irregular shapes and large numbers. Using partially saturated methods, it accurately models arbitrary shapes, albeit at considerable…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…
Interactive bodies collision detection and elimination is one of the most popular task nowadays. Collisions can be detected in different ways. Collision search using space voxelization is one of the most fast. This paper describes improved…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
3D representations of highly deformable 3D models, such as dynamic 3D meshes, have recently become very popular due to their wide applicability in various domains. This trend inevitably leads to a demand for storage and transmission of…
This paper proposes an enhancement of convolutional neural networks for object detection in resource-constrained robotics through a geometric input transformation called Visual Mesh. It uses object geometry to create a graph in vision…
Capturing both geometry and rigid motion for structured dynamic objects, like multi-part assemblies or jointed mechanisms, remains a key challenge. Existing dynamic methods, such as deformable meshes or 3DGS, rely on unstructured…
A polyhedral approximation of a convex body can be calculated by solving approximately an associated multiobjective convex program (MOCP). An MOCP can be solved approximately by Benson type algorithms, which compute outer and inner…
We propose a Point-Voxel DeConvolution (PVDeConv) module for 3D data autoencoder. To demonstrate its efficiency we learn to synthesize high-resolution point clouds of 10k points that densely describe the underlying geometry of Computer…
Polytopes are the basic finite data structures for convex sets: they appear as feasible regions in linear optimization, as geometric summaries in algorithms, and as random objects in stochastic geometry. A natural geometric question is…
This paper evaluates several improvements to the memory layout of convex hulls to improve computation times for support point queries. The support point query is a fundamental part of common collision algorithms, and the work presented…
We develop a sketching algorithm to find the point on the convex hull of a dataset, closest to a query point outside it. Studying the convex hull of datasets can provide useful information about their geometric structure and their…
Given a set of disjoint simple polygons $\sigma_1, \ldots, \sigma_n$, of total complexity $N$, consider a convexification process that repeatedly replaces a polygon by its convex hull, and any two (by now convex) polygons that intersect by…
This paper presents a simple yet powerful method for 3D human mesh reconstruction from a single RGB image. Most recently, the non-local interactions of the whole mesh vertices have been effectively estimated in the transformer while the…
3D Shape representation has substantial effects on 3D shape reconstruction. Primitive-based representations approximate a 3D shape mainly by a set of simple implicit primitives, but the low geometrical complexity of the primitives limits…
Converting a three-dimensional medical image into a 3D mesh that satisfies both the quality and fidelity constraints of predictive simulations and image-guided surgical procedures remains a critical problem. Presented is an image-to-mesh…
We introduce a fast and invertible approximation for data simulated as 2D planar meshes with connectivities along the poloidal dimension in deforming 3D toroidal (donut-like) spaces generated by fusion simulations. In fusion simulations,…