相关论文: Cayley Analysis of Mechanism Configuration Spaces …

We introduce polynomial couplings, a generalization of probabilistic couplings, to develop an algorithm for the computation of equivalence relations which can be interpreted as a lifting of probabilistic bisimulation to polynomial…

A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…

Functions correspond to one of the key concepts in mathematics and science, allowing the representation and modeling of several types of signals and systems. The present work develops an approach for characterizing the coverage and…

Computer systems are so complex, so they are usually designed and analyzed in terms of layers of abstraction. Complexity is still a challenge facing logical reasoning tools that are used to find software design flaws and implementation…

This is a continuation of prior work of the author on cosection localization for d-manifolds. We construct reduced virtual fundamental classes for derived manifolds with surjective cosections and cosection localized virtual fundamental…

The evaluation of informative path planning algorithms for autonomous vehicles is often hindered by fragmented execution pipelines and limited transferability between simulation and real-world deployment. This paper introduces a unified…

Industrial computing devices, in particular cyber-physical, real-time and safety-critical systems, focus on reacting to external events and the need to cooperate with other devices to create a functional system. They are often implemented…

Convexity, though extremely important in mathematical programming, has not drawn enough attention in the field of dynamic programming. This paper gives conditions for verifying convexity of the cost-to-go functions, and introduces an…

We present a family of logics for reasoning about agents' positions and motion in the plane which have several potential applications in the area of multi-agent systems (MAS), such as multi-agent planning and robotics. The most general…

The ongoing connection and automation of vehicles leads to a closer interaction of the individual vehicle components, which demands for consideration throughout the entire development process. In the design phase, this is achieved through…

Determinisation and completion of finite tree automata are important operations with applications in program analysis and verification. However, the complexity of the classical procedures for determinisation and completion is high. They are…

This work presents a unified framework that combines global approximations with locally built models to handle challenging nonconvex and nonsmooth composite optimization problems, including cases involving extended real-valued functions. We…

In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…

We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion) space. To…

Two-dimensional patterns are used in many research areas in computer science, ranging from image processing to specification and verification of complex software systems (via scenarios). The contribution of this paper is twofold. First, we…

When novices fabricate, they start by choosing a workflow (e.g., laser cutting, 3D printing, etc.) and corresponding software from a narrow set they know. As they advance their design, another workflow might better suit their intent, but…

Compact sets in constructive mathematics capture our intuition of what computable subsets of the plane (or any other complete metric space) ought to be. A good representation of compact sets provides an efficient means of creating and…

Intelligent agents need to understand the surrounding environment to provide meaningful services to or interact intelligently with humans. The agents should perceive geometric features as well as semantic entities inherent in the…

LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local…

Nearly all practical applications of the theory of characteristic modes (CMs) involve the use of computational tools. Here in Paper 2 of this Series on CMs, we review the general transformations that move CMs from a continuous theoretical…