相关论文: Numerical Implementation of the Improved Sugama Co…

In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…

Sensors producing 3D point clouds such as 3D laser scanners and RGB-D cameras are widely used in robotics, be it for autonomous driving or manipulation. Aligning point clouds produced by these sensors is a vital component in such…

The present work is devoted to developing the integrated hydrokinetic model (iHKM) for relativistic nucleus-nucleus collisions. While the previous cycle of works on this topic focused on ultra-relativistic collisions at the top RHIC and…

Applying gyrokinetic simulations for theoretical turbulence and transport studies to the plasma edge and scrape-off layer (SOL) presents significant challenges. To in particular account for steep density and temperature gradients in the…

We study the real time dynamics of electron coherence in a double quantum dot two-terminal Aharonov-Bohm geometry, taking into account repulsion effects between the dots' electrons. The system is simulated by extending a numerically exact…

This paper contributes new insights into discretizing Coulomb collisions in kinetic plasma models. Building on the previous works [Carrillo et al. J. Comp. Phys. X 7:100066 (2020), Hirvijoki and Burby Phys. Plasmas 27(8):082307 (2020)], I…

In this paper, we propose a novel dynamic calibration method for sparse inertial motion capture systems, which is the first to break the restrictive absolute static assumption in IMU calibration, i.e., the coordinate drift RG'G and…

Recently proposed local self-interaction correction (LSIC) method [Zope, R. R. et al., J. Chem. Phys. 151, 214108 (2019)] is a one-electron self-interaction-correction (SIC) method that uses an iso-orbital indicator to apply the SIC at each…

We study increasing subsequences (IS) for an ensemble of sequences given by permutation of numbers {1,2,...,n}. We consider a Boltzmann ensemble at temperature T. Thus each IS appears with the corresponding Boltzmann probability where the…

All-atom, force field-based molecular dynamics simulations are essential tools in computational chemistry, enabling the prediction and analysis of biomolecular systems with atomic-level resolution. However, as system sizes and simulation…

In this paper, we consider the problems in the practical application of visual simultaneous localization and mapping (SLAM). With the popularization and application of the technology in wide scope, the practicability of SLAM system has…

This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…

After developing a scattering theory for grazing collisions in general noncanonical phase spaces, we introduce a guiding center collision operator in five-dimensional phase space designed for plasma regimes characterized by long wavelengths…

First of a kind comprehensive full-f drift-kinetic (DK) and $\delta$-f gyrokinetic (GK) turbulent simulations are carried out in a linear plasma device. We self-consistently derive an electrostatic model including large-scale slowly-varying…

Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…

Asymptotics-based configuration-interaction (CI) methods [G. Friesecke and B. D. Goddard, Multiscale Model. Simul. 7, 1876 (2009)] are a class of CI methods for atoms which reproduce, at fixed finite subspace dimension, the exact…

This paper introduces a novel motion planner, incrementally stochastic and accelerated gradient information mixed optimization (iSAGO), for robotic manipulators in a narrow workspace. Primarily, we propose the overall scheme of iSAGO…

Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex…

This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed methods, named E-InEKF and E-IS, fuse kinematics, IMU,…

Inertial Measurement Units (IMUs) enable portable, multibody motion capture (MoCap) in diverse environments beyond the laboratory, making them a practical choice for diagnosing mobility disorders and supporting rehabilitation in clinical or…