相关论文: Nilpotent approximation of a trident snake robot c…

In this work we extend a variational method to study the approximate controllability and finite dimensional exact controllability ( finite-approximate controllability) for the semilinear evolution equations in Hilbert spaces. We state a…

Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…

Computing the similarity between two probability distributions is a recurring theme across control. We introduce a unified family of distances between the probability distributions of two random variables that is based on the discrepancy…

This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to…

We propose to compute approximations to general invariant sets in dynamical systems by minimizing the distance between an appropriately selected finite set of points and its image under the dynamics. We demonstrate, through computational…

Limbless terrestrial animals exhibit exceptional locomotor versatility and control, currently unmatched by engineered counterparts. Here, we introduce a computational framework that enables soft synthetic snakes to navigate unstructured,…

In this manuscript, we examine impulsive evolution systems in Hilbert spaces. Using a resolvent-like operator, we first establish the finite-approximate controllability for linear systems. Subsequently, by applying the Schauder fixed-point…

In this paper we establish a multiscale approximation for random fields on the sphere using spherical needlets --- a class of spherical wavelets. We prove that the semidiscrete needlet decomposition converges in mean and pointwise senses…

In this paper, we consider the problem of computing the nearest uncontrollable (C-uncontrollable) system to a given higher order system. The distance to the nearest uncontrollable system, also termed as the radius of controllability, is a…

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…

Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…

Optimal Dirichlet boundary control for a fractional/normal evolution with a final observation is considered. The unique existence of the solution and the first-order optimality condition of the optimal control problem are derived. The…

This work proposes a decision-making framework for partially observable systems in continuous time with discrete state and action spaces. As optimal decision-making becomes intractable for large state spaces we employ approximation methods…

It is true that the "best" neural network is not necessarily the one with the most "brain-like" behavior. Understanding biological intelligence, however, is a fundamental goal for several distinct disciplines. Translating our understanding…

We construct a point set in the Euclidean plane that elucidates the relationship between the fine-scale statistics of the fractional parts of $\sqrt n$ and directional statistics for a shifted lattice. We show that the randomly rotated, and…

In this paper we give an algorithm to recognize triangulable locally nilpotent derivations in dimension three. In case the given derivation is triangulable, our method produces a coordinate system in which it exhibits a triangular form.

In this paper we are concerned with the approximate controllability of a multidimensional semilinear reaction-diffusion equation governed by a multiplicative control, which is locally distributed in the reaction term. For a given initial…

This letter considers control of a radially symmetric tripedal friction-driven robot. The robot features 3 servo motors mounted on a 3-D printed chassis 7 cm from the center of mass and separated 120 degrees. These motors drive limbs, which…

This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…

This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a…