相关论文: Position Analysis of the RRP-3(SS) Multi-Loop Spat…

A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

Estimation techniques to precisely localize a kinematic platform with GNSS observables can be broadly partitioned into two categories: differential, or undifferenced. The differential techniques (e.g., real-time kinematic (RTK)) have…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

Robotic pick and place tasks are symmetric under translations and rotations of both the object to be picked and the desired place pose. For example, if the pick object is rotated or translated, then the optimal pick action should also…

We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…

Context: Numerous theoretical studies of the stellar dynamics of triple systems have been carried out, but fewer purely empirical studies that have addressed planetary orbits within these systems. Most of these empirical studies have been…

We study central configurations in the four body problem, i.e., configurations in which the forces on all the bodies point to a fixed, single point in space. The newly formulated pair-space formalism yields a set of vectorial equations that…

Simultaneous stabilization problem arises in various systems and control applications. This paper introduces a new approach to addressing this problem in the multivariable scenario, building upon our previous findings in the scalar case.…

Numerical integration on spheres, including the computation of the areas of spherical triangles, is a core computation in geomathematics. The commonly used techniques sometimes suffer from instabilities and significant loss of accuracy. We…

Reconfigurable intelligent surface (RIS)-assisted localization has attracted extensive attention as it can enable and enhance localization services in extreme scenarios. However, most existing works treat RISs as anchors with known…

This paper develops a conceptual extension of the Kinetic Theory of Active Particles, building upon the framework introduced in [2]. Living systems cannot be adequately described within classical single-scale paradigms, even when refined.…

The four-bar linkage is a basic arrangement of mechanical engineering and represents the simplest movable system formed by a closed sequence of bar-shaped bodies. Although the mechanism can have in general a spatial arrangement, we focus…

Real-world dynamical systems often consist of multiple stochastic subsystems that interact with each other. Modeling and forecasting the behavior of such dynamics are generally not easy, due to the inherent hardness in understanding the…

An integrable spin-ladder model with nearest-neighbor exchanges and biquadratic interactions is proposed. With the Bethe ansatz solutions of the model hamiltonian, it is found that there are three possible phases in the ground state, i.e.,…

We study the geometry associated with the kinematics of a planar robot known as the "three-segment snake," whose velocity distribution belongs to a class of (2,3,5) distributions. We discover that, under certain assumptions on its…

We propose the concept of Action-Related Place (ARPlace) as a powerful and flexible representation of task-related place in the context of mobile manipulation. ARPlace represents robot base locations not as a single position, but rather as…

The aim of this paper is to numerically investigate the orbital dynamics of the circular planar restricted problem of five bodies. By numerically integrating several large sets of initial conditions of orbits we classify them into three…

3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…

Recently we have presented in hep-th/9811071 an ansatz which allows us to construct skyrmion fields from the harmonic maps of $S\sp2$ to $CP\sp{N-1}$. In this paper we examine this construction in detail and use it to construct, in an…