相关论文: Cayley Analysis of Mechanism Configuration Spaces …
Modern cyber-physical systems (CPS) have a close inter-dependence between software and physical components. Automotive embedded systems are typical CPS, as physical chips, sensors and actuators are physical components and software embedded…
Embodied AI robots have the potential to fundamentally improve the way human beings live and manufacture. Continued progress in the burgeoning field of using large language models to control robots depends critically on an efficient…
We provide explicit motion planners for Euiclidean configuration spaces. This allows us to recover some known values of the topological complexity and the Lusternik-Schinirelman category of these spaces.
Software visualization seeks to represent software artifacts graphical-ly in two or three dimensions, with the goal of enhancing comprehension, anal-ysis, maintenance, and evolution of the source code. In this context, visualiza-tions…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
The verification community has studied dynamic data structures primarily in a bottom-up way by analyzing pointers and the shapes induced by them. Recent work in fields such as separation logic has made significant progress in extracting…
Current vision-language models have been explored for multi-modal embedding tasks like information retrieval. However, they face significant challenges in real-world queries and targets involving diverse modality combinations, as existing…
Application of artificial intelligence (AI), and more specifically machine learning, to the physical sciences has expanded significantly over the past decades. In particular, science-informed AI, also known as scientific AI or inductive…
We present two algorithms for large-scale low-rank Euclidean distance matrix completion problems, based on semidefinite optimization. Our first method works by relating cliques in the graph of the known distances to faces of the positive…
A numerical method for coupled 3D-1D problems with discontinuous solutions at the interfaces is derived and discussed. This extends a previous work on the subject where only continuous solutions were considered. Thanks to properly defined…
Distributed algorithms for solving coupled semidefinite programs (SDPs) commonly require many iterations to converge. They also put high computational demand on the computational agents. In this paper we show that in case the coupled…
This paper introduces a novel framework for continuous 3D trajectory optimization in cluttered environments, leveraging online neural Euclidean Signed Distance Fields (ESDFs). Unlike prior approaches that rely on discretized ESDF grids with…
Mobile manipulators promise agile, long-horizon behavior by coordinating base and arm motion, yet whole-body trajectory optimization in cluttered, confined spaces remains difficult due to high-dimensional nonconvexity and the need for fast,…
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's mobility without requiring precise contact modeling. However,…
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible motions while jointly optimizing morphology and mounted pose…
We present PyMoosh, a Python-based simulation library designed to provide a comprehensive set of numerical tools allowing to compute essentially all optical characteristics of multilayered structures, ranging from reflectance and…
In this paper we combine a survey of the most important topological properties of kinematic maps that appear in robotics, with the exposition of some basic results regarding the topological complexity of a map. In particular, we discuss…
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…
To improve our understanding of connected systems, different tools derived from statistics, signal processing, information theory and statistical physics have been developed in the last decade. Here, we will focus on the graph comparison…
Delay-coupled networks are investigated with nonidentical delay times and the effects of such heterogeneity on the emergent dynamics of complex systems are characterized. A simple decomposition method is presented that decouples the…