相关论文: Minkowski Operations of Sets with Application to R…
To determine the relative position of any two surfaces in a system, one approach is to useoperations (Minkowski sum and intersection) on sets of constraints. These constraints aremade compliant with half-spaces of R^n where each set of…
Minkowski sums are of theoretical interest and have applications in fields related to industrial backgrounds. In this paper we focus on the specific case of summing polytopes as we want to solve the tolerance analysis problem described in…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
Recently Borchers has shown that in a theory of local observables, certain unitary and antiunitary operators, which are obtained from an elementary construction suggested by Bisognano and Wichmann, commute with the translation operators…
A method for selecting solution constructors in narrowing is presented. The method is based on a sort discipline that describes regular sets of ground constructor terms as sorts. It is extended to cope with regular sets of ground…
A general primal-dual splitting algorithm for solving systems of structured coupled monotone inclusions in Hilbert spaces is introduced and its asymptotic behavior is analyzed. Each inclusion in the primal system features compositions with…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…
The classical Minkowski problem for convex bodies has deeply influenced the development of differential geometry. During the past several decades, abundant mathematical theories have been developed for studying the solutions of the…
This paper poses a question about a simple localization problem. The question is if an {\em oblivious} walker on a line-segment can localize the middle point of the line-segment in {\em finite} steps observing the direction (i.e., Left or…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
The objective of this study is improving the location estimate of a mobile robot capable of motion on a plane and mounted with a conventional 2D LIDAR sensor, given an initial guess for its location on a 2D map of its surroundings.…
This paper addresses the challenges of optimally placing a finite number of sensors to detect Poisson-distributed targets in a bounded domain. We seek to rigorously account for uncertainty in the target arrival model throughout the problem.…
The aim of the paper is to develop a unified algebraical approach to representing the Minkowski difference for convex polyhedra. Namely, there is proposed an exact analytical formulas of the Minkowski difference for convex polyhedra with…
The Minkowski product of unit quaternion sets is introduced and analyzed, motivated by the desire to characterize the overall variation of compounded spatial rotations that result from individual rotations subject to known uncertainties in…
Backward reachability analysis is essential to synthesizing controllers that ensure the correctness of closed-loop systems. This paper is concerned with developing scalable algorithms that under-approximate the backward reachable sets, for…
Selecting an optimal robot, its base pose, and trajectory for a given task is currently mainly done by human expertise or trial and error. To evaluate automatic approaches to this combined optimization problem, we introduce a benchmark…
This paper presents a simultaneous localization and map-assisted environment recognition (SLAMER) method. Mobile robots usually have an environment map and environment information can be assigned to the map. Important information for mobile…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…