Related papers: Application of the SALI chaos detection method to …
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…
In this article, on the example of the known low-order dynamical models, namely Lorenz, Rossler and Vallis systems, the difficulties of reliable numerical analysis of chaotic dynamical systems are discussed. For the Lorenz system, the…
A phenomenon of weak transient chaos is discussed that is caused by sub-exponential divergence of trajectories in the basin of a non-chaotic attractor. Such a regime is not easy to detect, because conventional characteristics, such as the…
We describe an explainable AI saliency map method for use with deep convolutional neural networks (CNN) that is much more efficient than popular fine-resolution gradient methods. It is also quantitatively similar or better in accuracy. Our…
Factor graphs are graphical models used to represent a wide variety of problems across robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping (SLAM) and calibration. Typically, at their core, they have an…
The route to chaos and phase dynamics in a rotating shallow-water model were rigorously examined using a five-mode Galerkin truncated system with complex variables. This system is valuable for investigating how large/meso-scales destabilize…
Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…
We report an analysis of intramolecular dynamics of the highly excited planar carbonyl sulfide (OCS) below and at the dissociation threshold by the Fast Lyapunov Indicator (FLI) method. By mapping out the variety of dynamical regimes in the…
We propose a mechanism by which the efficiency of mixing in chaotic flows can be enhanced. Our mechanism consists of introducing small changes in the system parameters in regions of phase space where the local Lyapunov exponent falls…
In commercial autonomous service robots with several form factors, simultaneous localization and mapping (SLAM) is an essential technology for providing proper services such as cleaning and guidance. Such robots require SLAM algorithms…
Focusing on semiclassical systems, we show that the parametrically long exponential growth of out-of-time order correlators (OTOCs), also known as scrambling, does not necessitate chaos. Indeed, scrambling can simply result from the…
Angelini, Pellicoro, and Stramaglia [Phys. Rev. E {\bf 60}, R5021 (1999), cond-mat/9907149] (APS) claim that the phase ordering of two-dimensional systems of sequentially-updated chaotic maps with conserved ``order parameter'' does not…
We introduce a new analytical method, which allows to find out chaotic dynamics in non-smooth dynamical systems. A simple mechanical system consisting of a mass and a dry friction element is considered as an example. The corresponding…
We often encounter limited FOV situations due to various factors such as sensor fusion or sensor mount in real-world robot navigation. However, the limited FOV interrupts the generation of descriptions and impacts place recognition…
The spiraling of adjacent trajectories in chaotic dynamical systems can be characterized by distribution of local angular velocities of rotation of the displacement vector, which is governed by linearized equations of motion. This…
Chaos indicators, like the Lyapunov exponent lambda, are widely used in celestial mechanics to characterize the dynamical behavior of bodies. The stability of their orbit can be determined by the calculation of the local exponential…
The recurrence-based divergence quantifier ($DIV$), traditionally applied to dissipative systems, is shown here to be an effective finite-time chaos indicator for conservative dynamics. We benchmark its performances against the…
Intrinsic instability of trajectories characterizes chaotic dynamical systems. We report here that trajectories can exhibit a surprisingly high degree of stability, over a very long time, in a chaotic dynamical system. We provide a detailed…
Efficient modeling of the Richtmyer-Meshkov instability (RMI) is essential to many engineering tasks, including high-speed combustion and drive and capsule geometry optimization in Inertial Confinement Fusion (ICF). In the latter, RMI…