Related papers: A Study of the Circular Pursuit Dynamics using Bif…
This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based…
We formulate and analyze a three-dimensional model of motion camouflage, a stealth strategy observed in nature. A high-gain feedback law for motion camouflage is formulated in which the pursuer and evader trajectories are described using…
In this paper we investigate a differential game in which countably many dynamical objects pursue a single one. All the players perform simple motions. The duration of the game is fixed. The controls of a group of pursuers are subject to…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Recently, Minimum Cost Multicut Formulations have been proposed and proven to be successful in both motion trajectory segmentation and multi-target tracking scenarios. Both tasks benefit from decomposing a graphical model into an optimal…
Visual Object tracking research has undergone significant improvement in the past few years. The emergence of tracking by detection approach in tracking paradigm has been quite successful in many ways. Recently, deep convolutional neural…
In this article, we investigate the convergence behavior of two classes of gathering protocols with fixed circulant topologies using tools from dynamical systems. Given a fixed number of mobile entities moving in the Euclidean plane, we…
This paper studies the kinematic tracking control problem for aerial manipulators. Existing kinematic tracking control methods, which typically employ proportional-derivative feedback or tracking-error-based feedback strategies, may fail to…
We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability…
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed…
We propose a simple mathematical model that describes a pairing-induced motion of active and passive particles in a two-dimensional system, which is motivated by our previous paper [Ishikawa et al., Phys. Rev. E \textbf{106} (2022) 024604].…
This paper presents a framework to perform bifurcation analysis in laboratory experiments or simulations. We employ control-based continuation to study the dynamics of a macroscopic variable of a microscopically defined model, exploring the…
We consider a random walker whose motion is tethered around a focal point. We use two models that exhibit the same spatial dependence in the steady state but widely different dynamics. In one case, the walker is subject to a deterministic…
We present a black-box method to numerically investigate the linear stability of arbitrary multi-physics problems. While the user just has to enter the system's residual in weak formulation, i.e. by a finite element method, all required…
In this paper a new multiscale modeling technique is proposed. It relies on a recently introduced measure-theoretic approach, which allows to manage the microscopic and the macroscopic scale under a unique framework. In the resulting…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
We study the numerical solution of nonlinear partially observed optimal stopping problems. The system state is taken to be a multi-dimensional diffusion and drives the drift of the observation process, which is another multi-dimensional…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
Recently, clustering moving object trajectories kept gaining interest from both the data mining and machine learning communities. This problem, however, was studied mainly and extensively in the setting where moving objects can move freely…