Related papers: Novel Algorithms for Smoothly Differentiable and E…
This study addresses the challenge of accurately forecasting geometric deviations in manufactured components using advanced 3D surface analysis. Despite progress in modern manufacturing, maintaining dimensional precision remains difficult,…
We present a new and efficient phase-field solver for viscoelastic fluids with moving contact line based on a dual-resolution strategy. The interface between two immiscible fluids is tracked by using the Cahn-Hilliard phase-field model, and…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion…
A collision-based hybrid method for the discrete ordinates approximation of the multigroup neutron transport equation is developed for two-dimensional time-dependent problems. At each time step, this algorithm splits the neutron transport…
In manufacturing processes, surface inspection is a key requirement for quality assessment and damage localization. Due to this, automated surface anomaly detection has become a promising area of research in various industrial inspection…
We develop and analyse the first second-order phase-field model to combine melting and dissolution in multi-component flows. This provides a simple and accurate way to simulate challenging phase-change problems in existing codes.…
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the environment as a voxelized Euclidean distance field, where…
One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Although several…
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is…
In a wide range of practical problems, such as forming operations and impact tests, assuming that one of the contacting bodies is rigid is an excellent approximation to the physical phenomenon. In this work, the well-established dual mortar…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
We introduce Vysics, a vision-and-physics framework for a robot to build an expressive geometry and dynamics model of a single rigid body, using a seconds-long RGBD video and the robot's proprioception. While the computer vision community…
The need to compute the intersections between a line and a high-order curve or surface arises in a large number of finite element applications. Such intersection problems are easy to formulate but hard to solve robustly. We introduce a…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
Convolutional neural networks (CNNs) have demonstrated their superiority in numerous computer vision tasks, yet their computational cost results prohibitive for many real-time applications such as pedestrian detection which is usually…