相关论文: Objective Flow Measures Based on Few Trajectories
Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
Dynamical and statistical properties of tracer advection are studied in a family of flows produced by three point-vortices of different signs. A collapse of all three vortices to a single point is then possible. Tracer dynamics is analyzed…
The vector space of all input-output trajectories of a discrete-time linear time-invariant (LTI) system is spanned by time-shifts of a single measured trajectory, given that the respective input signal is persistently exciting. This fact,…
Particle motion is considered in incompressible two-dimensional flows consisting of a steady background gyre on which an unsteady wave-like perturbation is superimposed. A dynamical systems point of view that exploits the action--angle…
Granular particles vibrated in a fluid have been found to exhibit self-organization with attractive and repulsive interactions between the particles. These interactions have been attributed to the steady streaming flow around oscillating…
Visual Multi-Object Tracking (MOT) is a crucial component of robotic perception, yet existing Tracking-By-Detection (TBD) methods often rely on 2D cues, such as bounding boxes and motion modeling, which struggle under occlusions and…
The referring video object segmentation task (RVOS) involves segmentation of a text-referred object instance in the frames of a given video. Due to the complex nature of this multimodal task, which combines text reasoning, video…
Flow Matching has limited ability in achieving one-step generation due to its reliance on learned curved trajectories. Previous studies have attempted to address this limitation by either modifying the coupling distribution to prevent…
We report a novel experimental technique that measures simultaneously in three dimensions the trajectories, the translation, and the rotation of finite size inertial particles together with the turbulent flow. The flow field is analyzed by…
What is the turbulent drag force experienced by an object moving in a rotating fluid? This open and fundamental question can be addressed by measuring the torque needed to drive an impeller at constant angular velocity $\omega$ in a water…
Network management and security is currently one of the most vibrant research areas, among which, research on detecting and identifying anomalies has attracted a lot of interest. Researchers are still struggling to find an effective and…
We develop a framework for efficient streaming reconstructions of turbulent velocity fluctuations from limited sensor measurements with the goal of enabling real-time applications. The reconstruction process is simplified by computing…
The motion of pedestrians is subject to a wide range of influences and exhibits a rich phenomenology. To enable precise measurement of the density and velocity we use an alternative definition using Voronoi diagrams which exhibits smaller…
Transfer entropy (TE) captures the directed relationships between two variables. Partial transfer entropy (PTE) accounts for the presence of all confounding variables of a multivariate system and infers only about direct causality. However,…
Radar sensors have become an important part of the perception sensor suite due to their long range and their ability to work in adverse weather conditions. However, several shortcomings such as large amounts of noise and extreme sparsity of…
Despite the low dimensionalities of dissipative viscous fluids, reinforcement learning (RL) requires many observables in fluid control problems. This is because the observables are assumed to follow a policy-independent Markov decision…
Monitoring and control of traffic networks represent alternative, inexpensive strategies to minimize traffic congestion. As the number of traffic sensors is naturally constrained by budgetary requirements, real-time estimation of traffic…
Given a graph with non-negative edge weights, there are various ways to interpret the edge weights and induce a metric on the vertices of the graph. A few examples are shortest-path, when interpreting the weights as lengths; resistance…
Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…