相关论文: A class of hopping patterns with minimal collision…

A method is developed to calculate collision probability in this paper. Based on the encounter geometric features of space objects, it is reasonable to separate the radial orbital motions from that in the cross section for most encounter…

This paper presents a collision avoidance method for elliptical agents traveling in a two-dimensional space. We first formulate a separation condition for two elliptical agents utilizing a signed distance from a supporting line of an agent…

This article presents a novel approach, named MCMP (Monte Carlo Motion Planning), to the problem of motion planning under uncertainty, i.e., to the problem of computing a low-cost path that fulfills probabilistic collision avoidance…

Saltation models provide considerable insight into near-bed sediment transport. This paper outlines a simple, efficient numerical model of stochastic saltation, which is validated against previously published experimental data on saltation…

We study the worst-case convergence rates of the proximal gradient method for minimizing the sum of a smooth strongly convex function and a non-smooth convex function whose proximal operator is available. We establish the exact worst-case…

We analyze the learning properties of the stochastic gradient method when multiple passes over the data and mini-batches are allowed. We study how regularization properties are controlled by the step-size, the number of passes and the…

In this paper, we developed a new navigation system, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential…

In this paper, we give definitions of three kinds of minimal charts, and we investigate properties of minimal charts and establish fundamental theorems characterizing minimal charts. To classify charts with two or three crossings we use the…

We give a lower bound for the non-collision probability up to a long time T in a system of n independent random walks with fixed obstacles on the two-dimensional lattice. By `collision' we mean collision between the random walks as well as…

A design is a collection of distinct points in a given set $X$, which is assumed to be a compact subset of $R^d$, and the mesh-ratio of a design is the ratio of its fill distance to its separation radius. The uniformity constant of a…

Computing collision-free trajectories is of prime importance for safe navigation. We present an approach for computing the collision probability under Gaussian distributed motion and sensing uncertainty with the robot and static obstacle…

In this work, we consider the notion of "criterion collapse," in which optimization of one metric implies optimality in another, with a particular focus on conditions for collapse into error probability minimizers under a wide variety of…

We obtain a lower bound for the coarse Ricci curvature of continuous time pure jump Markov processes, with an emphasis on interacting particle systems. Applications to several models are provided, with a detailed study of the herd behavior…

We present an extension to the jet area-based pileup subtraction for both jet kinematics and jet shapes. A particle-level approach is explored whereby the jet constituents are corrected or removed using an extension of the methods currently…

Classifying hadronic jets using their constituents' kinematic information is a critical task in modern high-energy collider physics. Often, classifiers are designed by targeting the best performance using metrics such as accuracy, AUC, or…

Trajectory prediction in a cluttered environment is key to many important robotics tasks such as autonomous navigation. However, there are an infinite number of possible trajectories to consider. To simplify the space of trajectories under…

In this paper we study a kinetic model for pedestrians, who are assumed to adapt their motion towards a desired direction while avoiding collisions with others by stepping aside. These minimal microscopic interaction rules lead to complex…

We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodology that achieves evolution of the measured output within…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

We present novel upper and lower bounds to estimate the collision probability of motion plans for autonomous agents with discrete-time linear Gaussian dynamics. Motion plans generated by planning algorithms cannot be perfectly executed by…