相关论文: Capturability-based Pattern Generation for Walking…

Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…

We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional sensor measurements (e.g., RGB-D images) and a learned…

Peak estimation of hybrid systems aims to upper bound extreme values of a state function along trajectories, where this state function could be different in each subsystem. This finite-dimensional but nonconvex problem may be lifted into an…

We consider the problem of sample-based feedback motion planning from measurements affected by systematic errors. Our previous work presented output feedback controllers that use measurements from landmarks in the environment to navigate…

In this paper, we propose a generative framework that unifies depth-based 3D facial pose tracking and face model adaptation on-the-fly, in the unconstrained scenarios with heavy occlusions and arbitrary facial expression variations.…

In dealing with thermal transport in composite systems, high contrast materials pose a special problem for numerical simulation: the time scale or step size in the high conductivity material must be much smaller than in the low conductivity…

Modeling dynamical systems is important in many disciplines, e.g., control, robotics, or neurotechnology. Commonly the state of these systems is not directly observed, but only available through noisy and potentially high-dimensional…

In this study, we address the problem of in-flight object catching using a quadruped robot with a basket. Our objective is to accurately predict the impact point, defined as the object's landing position. This task poses two key challenges:…

Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…

Monocular 3D motion capture (mocap) is beneficial to many applications. The use of a single camera, however, often fails to handle occlusions of different body parts and hence it is limited to capture relatively simple movements. We present…

Urban modeling is essential for city planning, scene synthesis, and gaming. Existing image-based methods generate diverse layouts but often lack geometric continuity and scalability, while graph-based methods capture structural relations…

Recent studies confirm the applicability of Inertial Measurement Unit (IMU)-based systems for human motion analysis. Notwithstanding, high-end IMU-based commercial solutions are yet too expensive and complex to democratize their use among a…

Message-passing architectures struggle to sufficiently model long-range dependencies in node and graph prediction tasks. We propose a novel approach exploiting hierarchical graph structures and adaptive random walks to address this…

Accurate trajectory prediction (TP) for climbing aircraft is hampered by the presence of epistemic uncertainties concerning aircraft operation, which can lead to significant misspecification between predicted and observed trajectories. This…

Accurate 3D lane detection from monocular images presents significant challenges due to depth ambiguity and imperfect ground modeling. Previous attempts to model the ground have often used a planar ground assumption with limited degrees of…

Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…

Understanding human mobility is essential for the development of smart cities and social behavior research. Human mobility models may be used in numerous applications, including pandemic control, urban planning, and traffic management. The…

This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…

Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…

We consider a discrete random walk on a diagonal lattice in two and three dimensions and obtain explicit solutions of absorption probabilities and probabilities of return in several domains. In three dimensions we consider both the cube and…