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We present a sample-based motion planning algorithm specialised to a class of underactuated systems using path parameterisation. The structure this class presents under a path parameterisation enables the trivial computation of dynamic…
Trajectory prediction in a cluttered environment is key to many important robotics tasks such as autonomous navigation. However, there are an infinite number of possible trajectories to consider. To simplify the space of trajectories under…
Accurate human trajectory prediction is crucial for applications such as autonomous vehicles, robotics, and surveillance systems. Yet, existing models often fail to fully leverage the non-verbal social cues human subconsciously communicate…
Empirical models, fitted to data from observations, are often used in natural sciences to describe physical behaviour and support discoveries. However, with more complex models, the regression of parameters quickly becomes insufficient,…
Understanding the dynamics of an environment, such as the movement of humans and vehicles, is crucial for agents to achieve long-term autonomy in urban environments. This requires the development of methods to capture the multi-modal and…
We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…
We analyse features of the patterns formed from a simple model for a martensitic phase transition. This is a fragmentation model that can be encoded by a general branching random walk. An important quantity is the distribution of the…
Bipedal balance is challenging due to its multi-phase, hybrid nature and high-dimensional state space. Traditional balance control approaches for bipedal robots rely on low-dimensional models for locomotion planning and reactive control,…
Realistic aircraft trajectory models are useful in the design and validation of air traffic management (ATM) systems. Models of aircraft operated under instrument flight rules (IFR) require capturing the variability inherent in how aircraft…
Models for the dynamics of congestion control generally involve systems of coupled differential equations. Universally, these models assume that traffic sources saturate the maximum transmissions allowed by the congestion control method.…
Natural phenomena frequently involve a very large number of interacting molecules moving in confined regions of space. Cellular transport by motor proteins is an example of such collective behavior. We derive a deterministic compartmental…
The Cucker-Smale(CS) model is a velocity alignment model, and this model also has been generalized on general manifolds. We modify the CS model on manifolds to get rid of a-priori condition on particles' positions and conditions on…
The estimation of parameters from data is a common problem in many areas of the physical sciences, and frequently used algorithms rely on sets of simulated data which are fit to data. In this article, an analytic solution for…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
This paper presents a technique for reduced-order Markov modeling for compact representation of time-series data. In this work, symbolic dynamics-based tools have been used to infer an approximate generative Markov model. The time-series…
In this paper, we introduce an end-to-end framework for video analysis focused towards practical scenarios built on theoretical foundations from sparse representation, including a novel descriptor for general purpose video analysis. In our…
Chaotic attractors are solutions of deterministic processes, of which the topology can be described by templates. We consider templates of chaotic attractors bounded by a genus-1 torus described by a linking matrix. This article introduces…
We introduce a novel method for controlling a motion sequence using an arbitrary temporal control sequence using temporal alignment. Temporal alignment of motion has gained significant attention owing to its applications in motion control…
Although vital to computer vision systems, few-shot action recognition is still not mature despite the wide research of few-shot image classification. Popular few-shot learning algorithms extract a transferable embedding from seen classes…
We analyze the dynamics of moderate fluctuations for macroscopic observables of the random field Curie Weiss model (i.e., standard Curie-Weiss model embedded in a site dependent, i.i.d. random environment). We obtain path space large…