相关论文: Plausible Mobility: Inferring Movement from Contac…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
This paper describes a software-based tool that tracks mobile node roaming and infers the time-to-handover as well as the preferential handover target, based on behavior inference solely derived from regular usage data captured in visited…
Wireless mobile grids are one of the emerging grid types, which help to pool the resources of several willing and cooperative mobile devices to resolve a computationally intensive task. The mobile grids exhibit stronger challenges like…
Understanding the movement behaviours of individuals and the way they react to the external world is a key component of any problem that involves the modelling of human dynamics at a physical level. In particular, it is crucial to capture…
Since users move around based on social relationships and interests, the resulting movement patterns can represent how nodes are socially connected (i.e., nodes with strong social ties, nodes that meet occasionally by sharing the same…
For autonomous agents to successfully operate in real world, the ability to anticipate future motions of surrounding entities in the scene can greatly enhance their safety levels since potentially dangerous situations could be avoided in…
The characterization of the "most connected" nodes in static or slowly evolving complex networks has helped in understanding and predicting the behavior of social, biological, and technological networked systems, including their robustness…
Wrist-wearables such as smartwatches and fitness bands are equipped with a variety of high-precision sensors that support novel contextual and activity-based applications. The presence of a diverse set of on-board sensors, however, also…
The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity mechanical model. The connection is a co-vector (Lie…
Today's societies are enveloped in an ever-growing telecommunication infrastructure. This infrastructure offers important opportunities for sensing and recording a multitude of human behaviors. Human mobility patterns are a prominent…
Existing techniques for motion imitation often suffer a certain level of latency due to their computational overhead or a large set of correspondence samples to search. To achieve real-time imitation with small latency, we present a…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
Networks - collections of interacting elements or nodes - abound in the natural and manmade worlds. For many networks, complex spatiotemporal dynamics stem from patterns of physical interactions unknown to us. To infer these interactions,…
A variety of experimental techniques have improved the 2D and 3D spatial resolution that can be extracted from \emph{in vivo} single-molecule measurements. This enables researchers to quantitatively infer the magnitude and directionality of…
In this paper, we present a data-driven Model Predictive Controller that leverages a Gaussian Process to generate optimal motion policies for connected autonomous vehicles in regions with uncertainty in the wireless channel. The…
Multi-pedestrian trajectory prediction is an indispensable element of autonomous systems that safely interact with crowds in unstructured environments. Many recent efforts in trajectory prediction algorithms have focused on understanding…
In this work we propose, implement, and evaluate GRM, a novel mobility model that accounts for the role of group meeting dynamics and regularity in human mobility. Specifically, we show that existing mobility models for humans do not…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
In this chapter, we discuss urban mobility from a complexity science perspective. First, we give an overview of the datasets that enable this approach, such as mobile phone records, location-based social network traces, or GPS trajectories…
Contact-based estimation of object pose is challenging due to discontinuities and ambiguous observations that can correspond to multiple possible system states. This multimodality makes it difficult to efficiently sample valid hypotheses…