Related papers: A Simple General Solution for Maximal Horizontal R…
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…
The input to the distant representatives problem is a set of $n$ objects in the plane and the goal is to find a representative point from each object while maximizing the distance between the closest pair of points. When the objects are…
We study a stochastic control problem for continuous multidimensional martingales with fixed quadratic variation. In a radially symmetric environment, we are able to find an explicit solution to the control problem and find an optimal…
In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…
A classic problem of the motion of a projectile thrown at an angle to the horizon is studied. Air resistance force and Magnus force are taken into account with the use of the quadratic laws. We consider the asymptotic motion of the…
The famous proof of the Pontryagin maximum principle for control problems on a finite horizon bases on the needle variation technique, as well as the separability concept of cones created by disturbances of the trajectories. In this…
Variable projection solves structured optimization problems by completely minimizing over a subset of the variables while iterating over the remaining variables. Over the last 30 years, the technique has been widely used, with empirical and…
Looming, traditionally defined as the relative expansion of objects in the observer's retina, is a fundamental visual cue for perception of threat and can be used to accomplish collision free navigation. In this paper we derive novel…
Limited flight range is a common problem for multicopters. To alleviate this problem, we propose a method for finding the optimal speed and heading of a multicopter when flying a given path to achieve the longest flight range. Based on a…
The optimum interval method for finding an upper limit of a one-dimensionally distributed signal in the presence of an unknown background is extended to the case of high statistics. There is also some discussion of how the method can be…
In this paper, some new results on time-varying missile against a stationary target using pure proportional navigation (PPN) are developed in the planar interception problem. First, the relative motion equation is established in arc-length…
A result of existence of homogeneous scalar field solutions between prescribed configurations is given, using a modified version of Euler--Maupertuis least action variational principle. Solutions are obtained as limit of approximating…
Images of a scene observed under a variable illumination or with a variable optical aperture are not identical. Does a privileged representant exist? In which mathematical context? How to obtain it? The authors answer to such questions in…
In this paper, we investigate a pursuit-evasion game in which a mobile observer tries to track a target in an environment containing obstacles. We formulate the game as an optimal control problem with state inequality constraint in a simple…
The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…
Suppose an interval is put on a horizontal line with random roughness. With probability one it is supported at two points, one from the left, and another from the right from its center. We compute probability distribution of support points…
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and,…
Range profiling refers to the measurement of target response along the radar slant range. It plays an important role in automatic target recognition. In this paper, we consider the design of transmit waveform to improve the range profiling…
We consider the sound ranging, or source localization, problem - find the source-point from the moments when the wave-sphere of linearly, with time, increasing radius reaches the sensor-points - in the proper metric spaces (any closed ball…
We study the problem concerning the variation of the Hardy-Littlewood maximal function in higher dimensions. As the main result, we prove that the variation of the non-centered Hardy-Littlewood maximal function of a radial function is…