相关论文: Simple negative result for physically universal co…
A cellular automaton is a deterministic and exactly computable dynamical system which mimics certain fundamental aspects of physical dynamics such as spatial locality and finite entropy. CA systems can be constructed which have additional…
This note is a survey of examples and results about cellular automata with the purpose of recalling that there is no 'universal' way of being computationally universal. In particular, we show how some cellular automata can embed efficient…
One-dimensional quantum cellular automata (QCA) consist in a line of identical, finite dimensional quantum systems. These evolve in discrete time steps according to a local, shift-invariant unitary evolution. By local we mean that no…
Current studies about the continuous-variable systems in non-Hermitian quantum mechanics heavily revolved around the singularities in the eigenspectrum by mimicking their discrete-variable counterparts. Discussions over the nonunitary…
A closed quantum system is defined as completely controllable if an arbitrary unitary transformation can be executed using the available controls. In practice, control fields are a source of unavoidable noise. Can one design control fields…
In this work we derive a lower bound for the minimum time required to implement a target unitary transformation through a classical time-dependent field in a closed quantum system. The bound depends on the target gate, the strength of the…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
In this paper, we study the implementation of a model predictive controller (MPC) for the task of object manipulation in a highly uncertain environment (e.g., picking objects from a semi-flexible array of densely packed bins). As a…
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…
It is first shown that a smooth controllable system on a compact manifold is finite time controllable. The technique of proof is close to the one of Sussmann's orbit theorem, and no rank condition is required. This technique is also used to…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
All elementary Hamiltonians in nature are expected to be invariant under rotation. Despite this restriction, we usually assume that any arbitrary measurement or unitary time evolution can be implemented on a physical system, an assumption…
Macro-micro manipulators combine a macro manipulator with a large workspace, such as an industrial robot, with a lightweight, high-bandwidth micro manipulator. This enables highly dynamic interaction control while preserving the wide…
We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This challenge is central to a variety of fields, from graphics…
We investigate the controllability of an infinite-dimensional quantum system: a quantum particle confined on a Thick Quantum Graph, a generalisation of Quantum Graphs whose edges are allowed to be manifolds of arbitrary dimension with…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
We show how to implement quantum computation on a system with an intrinsic Hamiltonian by controlling a limited subset of spins. Our primary result is an efficient control sequence on a nearest-neighbor XY spin chain through control of a…
Optimal quantum control of continuous variable systems poses a formidable computational challenge because of the high-dimensional character of the system dynamics. The framework of quantum invariants can significantly reduce the complexity…
To perform manipulation tasks in the real world, robots need to operate on objects with various shapes, sizes and without access to geometric models. It is often unfeasible to train monolithic neural network policies across such large…
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…