相关论文: Minkowski Operations of Sets with Application to R…

Motion planning methods for autonomous systems based on nonlinear programming offer great flexibility in incorporating various dynamics, objectives, and constraints. One limitation of such tools is the difficulty of efficiently representing…

The projector onto the Minkowski sum of closed convex sets is generally not equal to the sum of individual projectors. In this work, we provide a complete answer to the question of characterizing the instances where such an equality holds.…

Pairs of metrics in a two-dimensional linear vector space are considered, one of which is a Minkowski type metric. Their simultaneous diagonalizability is studied and canonical presentations for them are suggested.

Tensors play a central role in many modern machine learning and signal processing applications. In such applications, the target tensor is usually of low rank, i.e., can be expressed as a sum of a small number of rank one tensors. This…

The join set of a finite collection of smooth embedded submanifolds of a mutual vector space is defined as their Minkowski sum. Join decompositions generalize some ubiquitous decompositions in multilinear algebra, namely tensor rank,…

This paper introduces the extended set difference, a generalization of the Hukuhara and generalized Hukuhara differences, defined for compact convex sets in $\mathbb{R}^d$. The proposed difference guarantees existence for any pair of such…

We simulate the satellite constellations of two Global Navigation Satellite Systems: Galileo (EU) and GPS (USA). Satellite motions are described in the Schwarzschild space-time produced by an idealized spherically symmetric non rotating…

The place recognition problem comprises two distinct subproblems; recognizing a specific location in the world ("specific" or "ordinary" place recognition) and recognizing the type of place (place categorization). Both are important…

We propose to derive deviation measures through the Minkowski gauge of a given set of acceptable positions. We show that, given a suitable acceptance set, any positive homogeneous deviation measure can be accommodated in our framework. In…

LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation and translation, using only the current scan as query and a…

We compute conformal correlation functions with spinor, tensor, and spinor-tensor primary fields in general dimensions with Euclidean and Lorentzian metrics. The spinors are taken to be Dirac spinors, which exist for any dimensions. For…

The class of convex sets that admit approximations as Minkowski sum of a compact convex set and a closed convex cone in the Hausdorff distance is introduced. These sets are called approximately Motzkin-decomposable and generalize the notion…

We introduce an algorithm that exploits a combinatorial symmetry of an arrangement in order to produce a geometric reflection between two disconnected components of its moduli space. We apply this method to disqualify three real examples…

To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…

This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…

Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…

Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…

We obtain and analyze equations determining first-order differential symmetry operators with matrix coefficients for the Dirac equation with an external electromagnetic potential in a $(2+1)$-dimensional Riemann (curved) spacetime.…

A common robotics sensing problem is to place sensors to robustly monitor a set of assets, where robustness is assured by requiring asset $p$ to be monitored by at least $\kappa(p)$ sensors. Given $n$ assets that must be observed by $m$…

We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…