相关论文: Cayley Analysis of Mechanism Configuration Spaces …
We consider so-called branched transport and variants thereof in two space dimensions. In these models one seeks an optimal transportation network for a given mass transportation task. In two space dimensions, they are closely connected to…
Autonomous driving demands reliable and efficient solutions to closely related problems such as decision-making and motion planning. In this work, decision-making refers specifically to highway lane selection, while motion planning involves…
We address a fundamental mismatch between the combinations of dynamics that occur in cyber-physical systems and the limited kinds of dynamics supported in analysis. Modern applications combine communication, computation, and control. They…
Autonomous systems are highly complex and present unique challenges for the application of formal methods. Autonomous systems act without human intervention, and are often embedded in a robotic system, so that they can interact with the…
A motion of a mechanism is a curve in its configuration space (c-space). Singularities of the c-space are kinematic singularities of the mechanism. Any mobility analysis of a particular mechanism amounts to investigating the c-space…
To study discrete dynamical systems of different types --- deterministic, statistical and quantum --- we develop various approaches. We introduce the concept of a system of discrete relations on an abstract simplicial complex and develop…
Simulation is a foundational tool for the analysis and testing of cyber-physical systems (CPS), underpinning activities such as algorithm development, runtime monitoring, and system verification. As CPS grow in complexity and scale,…
To enhance the interpretability of multimodal unified representations, many studies have focused on discrete unified representations. These efforts typically start with contrastive learning and gradually extend to the disentanglement of…
For the study of complex synthetic and biological molecular systems by computer simulations one is still restricted to simple model systems or to by far too small time scales. To overcome this problem multiscale techniques are being…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…
This paper tackles the data-driven approximation of unknown dynamical systems using Koopman-operator methods. Given a dictionary of functions, these methods approximate the projection of the action of the operator on the finite-dimensional…
The inevitable noise in real measurements motivates the problem to continuously quantify the similarity between rigid objects such as periodic time series and proteins given by ordered points and considered up to isometry maintaining…
We present an adaptive algorithm that guarantees synchronization in diffusively coupled systems. We first consider compartmental systems of ODEs, where each compartment represents a spatial domain of components interconnected through…
The interplay between process behaviour and spatial aspects of computation has become more and more relevant in Computer Science, especially in the field of collective adaptive systems, but also, more generally, when dealing with systems…
The structure of component and connector (C&C) models, which are used in many application domains of software engineering, consists of components at different containment levels, their typed input and output ports, and the connectors…
When robot manipulators decide how to reach for an object, hand it over, or obey some task constraint, they implicitly assume a Euclidean distance metric in their configuration space. Their notion of what makes a configuration closer or…
We describe a class calculus that is expressive enough to describe and improve its own learning process. It can design and debug programs that satisfy given input/output constraints, based on its ontology of previously learned programs. It…
Complex shapes are widely used to design products in several industries such as aeronautics, automotive and domestic appliances. Several variations of their curvatures and orientations generate difficulties during their manufacturing or the…
Component-Based Development (CBD) is a popular approach to mitigating the costs of creating software systems. However, it is not clear to what extent the core component selection and adaptation activities of CBD can be implemented to…