相关论文: Feature-Based Compliance Control for Peg-in-Hole A…

This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…

A generalized scheme for the construction of coherent states in the context of position-dependent effective mass systems has been presented. This formalism is based on the ladder operators and associated algebra of the system which are…

The accurate modeling of real-world systems and physical interactions is a common challenge towards the resolution of robotics tasks. Machine learning approaches have demonstrated significant results in the modeling of complex systems…

This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…

We present a simple yet effective method for 3D correspondence grouping. The objective is to accurately classify initial correspondences obtained by matching local geometric descriptors into inliers and outliers. Although the spatial…

In this paper, we present a control synthesis framework for a general class of nonlinear, control-affine systems under spatiotemporal and input constraints. First, we study the problem of fixed-time convergence in the presence of input…

Image feature extraction and matching is a fundamental but computation intensive task in machine vision. This paper proposes a novel FPGA-based embedded system to accelerate feature extraction and matching. It implements SURF feature point…

This paper strives to address image classifier bias, with a focus on both feature and label embedding spaces. Previous works have shown that spurious correlations from protected attributes, such as age, gender, or skin tone, can cause…

In computer vision, finding point correspondence among images plays an important role in many applications, such as image stitching, image retrieval, visual localization, etc. Most of the research worksfocus on the matching of local feature…

In this paper, we present a new polygonal finite element method, called the Zipped Finite Element Method, for star-shaped polygons. The proposed approach constructs high-order shape functions as linear combinations of standard finite…

Photonic integrated circuits offer a compact and stable platform for generating, manipulating, and detecting light. They are instrumental for classical and quantum applications. Imperfections stemming from fabrication constraints,…

Arrays are ubiquitous in the context of software verification. However, effective reasoning over arrays is still rare in CP, as local reasoning is dramatically ill-conditioned for constraints over arrays. In this paper, we propose an…

In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…

Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…

Recently, Conformer as a backbone network for end-to-end automatic speech recognition achieved state-of-the-art performance. The Conformer block leverages a self-attention mechanism to capture global information, along with a convolutional…

Shape matching is a fundamental task in computer graphics and vision, with deep functional maps becoming a prominent paradigm. However, existing methods primarily focus on learning informative feature representations by constraining…

This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often…

Point cloud completion aims to reconstruct complete 3D shapes from partial observations, which is a challenging problem due to severe occlusions and missing geometry. Despite recent advances in multimodal techniques that leverage…

The retail sector presents several open and challenging problems that could benefit from advanced pattern recognition and computer vision techniques. One such critical challenge is planogram compliance control. In this study, we propose a…

Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…