相关论文: Markovian robots: minimal navigation strategies fo…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Most theories of homogeneous nucleation are based on a Fokker-Planck-like description of the behavior of the mass of clusters. Here we will show that these approaches are incomplete for a large class of nucleating systems, as they assume…
We study single-variable approaches for describing stochastic dynamics with small inertia. The basic models we deal with describe passive Brownian particles and phase elements (phase oscillators, rotators, superconducting Josephson…
In this paper, selection of an active sensor subset for tracking a discrete time, finite state Markov chain having an unknown transition probability matrix (TPM) is considered. A total of N sensors are available for making observations of…
The non-Markovianity of open quantum system dynamics is often associated with the bidirectional interchange of information between the system and its environment, and it is thought to be a resource for various quantum information tasks. We…
This article considers collision avoidance (COLAV) for both static and moving obstacles using the branching-course model predictive control (BC-MPC) algorithm, which is designed for use by autonomous surface vehicles (ASVs). The BC-MPC…
This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…
We consider the behaviour of branching-selection particle systems in the large population limit. The dynamics of these systems is the combination of the following three components: (a) Motion: particles move on the real line according to a…
A dynamical system is considered such that, in this system, particles move on a toroidal lattice of the dimension $N_1\times N_2$ according to a version of the rule of particle movement in Biham--Middleton--Levine traffic model. Particles…
In this paper we study the bicausal optimal transport problem for Markov chains, an optimal transport formulation suitable for stochastic processes which takes into consideration the accumulation of information as time evolves. Our analysis…
This work presents Neural Gaits, a method for learning dynamic walking gaits through the enforcement of set invariance that can be refined episodically using experimental data from the robot. We frame walking as a set invariance problem…
In several cases, open quantum systems can be successfully described using master equations relying on Born-Markov approximations, but going beyond these approaches has become often necessary. In this work, we introduce the NCA and…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
Markov state models (MSMs) and Master equation models are popular approaches to approximate molecular kinetics, equilibria, metastable states, and reaction coordinates in terms of a state space discretization usually obtained by clustering.…
Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for…
We develop a framework to analyze the dynamics of a finite-dimensional quantum system $\rm S$ in contact with a reservoir $\rm R$. The full, interacting $\rm SR$ dynamics is unitary. The reservoir has a stationary state but otherwise…
Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
Applications of active particles require a method for controlling their dynamics. While this is typically achieved via direct interventions, indirect interventions based, e.g., on an orientation-dependent self-propulsion speed of the…
We study the collective motion of self-propelled particles affected by the spatial-dependent noise based on the Vicsek rules. Only the particles inside the special region will affected by noise. The consideration of the spatial-dependent…