相关论文: Avoiding Dense and Dynamic Obstacles in Enclosed S…

An accurate algorithm is proposed to improve the prediction of a particle in collision with a moving wall within the direct simulation Monte Carlo (DSMC) framework for the simulation of unsteady rarefied flows. This algorithm is able to…

Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…

In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…

Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empirically shown to enable a mobile robot's…

Fish, birds, insects and robots frequently swim or fly in groups. During their 3 dimensional collective motion, these agents do not stop, they avoid collisions by strong short-range repulsion, and achieve group cohesion by weak long-range…

This work analyzes the viscous flow and elastic deformation created by the forced axial motion of a rigid cylinder within an elastic liquid-filled tube. The examined configuration is relevant to various minimally invasive medical procedures…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…

This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…

Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the obstacle avoidance problem as an offline optimization…

Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios…

We present a macro-scale description of quasi-periodically developed flow in channels, which relies on double volume-averaging. We show that quasi-developed macro-scale flow is characterized by velocity modes which decay exponentially in…

We investigate the effect of groups on a bi-directional flow, by using novel computational methods. Our focus is on self-organisation phenomena, and more specifically on the time needed for the occurrence of pedestrian lanes, their…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

Simulations employing the continuum model of Gao et al. [Phy. Rev. Fluids, 2 093302 (2017)] are used to study the transport of an object in a closed two-dimensional container by a dense suspension of contractile active agents. For…

We consider a convex Euclidean hypersurface that evolves by a volume or area preserving flow with speed given by a general nonhomogeneous function of the mean curvature. For a broad class of possible speed functions, we show that any closed…

Consider a pair of smooth, possibly noncompact, properly immersed hypersurfaces moving by mean curvature flow, or, more generally, a pair of weak set flows. We prove that if the ambient space is Euclidean space and if the distance between…

Surface-driven flows are ubiquitous in nature, from subcellular cytoplasmic streaming to organ-scale ciliary arrays. Here, we model how confined geometries can be used to engineer complex hydrodynamic patterns driven by activity prescribed…

In our urbanised societies, the management and regulation of traffic and pedestrian flows is of considerable interest for public safety, economic development, and the conservation of the environment. However, modelling and controlling the…

This work extends, to moving geometries, the immersed boundary method based on volume penalization and selective frequency damping approach [J. Kou, E. Ferrer, A combined volume penalization/selective frequency damping approach for immersed…

We introduce a class of first-order methods for smooth constrained optimization that are based on an analogy to non-smooth dynamical systems. Two distinctive features of our approach are that (i) projections or optimizations over the entire…