相关论文: Nilpotent approximation of a trident snake robot c…
The limiting distribution of the normalized number of comparisons used by Quicksort to sort an array of n numbers is known to be the unique fixed point with zero mean of a certain distributional transformation S. We study the convergence to…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
The cerebellum plays a distinctive role within our motor control system to achieve fine and coordinated motions. While cerebellar lesions do not lead to a complete loss of motor functions, both action and perception are severally impacted.…
In this paper we show that a complete characterization of the controllability property for linear control system on three-dimensional solvable nonnilpotent Lie groups is possible by the LARC and the knowledge of the eigenvalues of the…
This investigation seeks to establish the practicality of numerical frame approximations. Specifically, it develops a new method to approximate the inverse frame operator and analyzes its convergence properties. It is established that…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
In this article, we introduce the concept of nilpotent graph of a finite commutative ring. The set of all non nilpotent elements of a ring is taken as the vertex set and two vertices are adjacent if and only if their sum is nilpotent. We…
We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…
In the paper, we show how scalable, low-cost trunk-like robotic arms can be constructed using only basic 3D-printing equipment and simple electronics. The design is based on uniform, stackable joint modules with three degrees of freedom…
Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots…
For linear infinite systems the approximate controllability problem by control constraints is considered. Controllability conditions represented via system parameters are obtained. Partial differential control systems and control systems…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
The greedy algorithm for approximating dominating sets is a simple method that is known to compute an $(\ln n+1)$-approximation of a minimum dominating set on any graph with $n$ vertices. We show that a small modification of the greedy…
Sampling from multimodal distributions is a challenging task in scientific computing. When a distribution has an exact symmetry between the modes, direct jumps among them can accelerate the samplings significantly. However, the…
Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hinders the reliable deployment of these methods in physical…
This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local information, each robot employs the popular gradient-based…
We prove strong invariance principle between a transient Bessel process and a certain nearest neighbor (NN) random walk that is constructed from the former by using stopping times. It is also shown that their local times are close enough to…
We extend existing connections between random walks, branching processes, and spatial branching processes, and their respective scaling limits, to include processes in dependent random environments. More specifically, we prove new scaling…
In this work, a spiking neural network (SNN) is proposed for approximating differential sensorimotor maps of robotic systems. The computed model is used as a local Jacobian-like projection that relates changes in sensor space to changes in…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…