相关论文: Minimum-time interception of a moving target by a …

This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…

This work studies the approximation of plane problems concerning transversely isotropic elasticity, using a low-order Virtual Element Method (VEM), with a focus on near-incompressibility and near-inextensibility. Additionally, both…

The shortest distance between the first $n$ iterates of a typical point can be quantified with a log rule for some dynamical systems admitting Gibbs measures. We show this in two settings. For topologically mixing Markov shifts with at most…

We consider the coupled motion of a free rigid body immersed in an inviscid compressible isentropic fluid. By means of a vanishing viscosity limit, we obtain the local-in-time existence of a dissipative measure-valued solution to the model.…

Achieving quantum-limited motional control of optically trapped particles beyond the sub-micrometer scale is an outstanding problem in levitated optomechanics. A key obstacle is solving the light scattering problem and identifying particle…

In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…

This paper is devoted to the algorithmic development of inverse elastic scattering problems. We focus on reconstructing the locations and shapes of elastic scatterers with known dictionary data for the nearly incompressible materials. The…

A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…

We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…

This paper presents a general purpose framework for autonomous, vision-based interception of dynamic, non-cooperative targets, validated across three distinct mobility platforms: an unmanned aerial vehicle (UAV), a four-wheeled ground…

This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment region that is orbited by a slower pursuer with a nonzero…

Reachability analysis plays a central role in low-thrust spacecraft trajectory optimization by identifying which target states can be achieved under constraints on time, thrust, and propellant. Classical approaches construct reachable sets…

We solve the reachability problem for a coupled wave-wave system with an integro-differential term. The control functions act on one side of the boundary. The estimates on the time is given in terms of the parameters of the problem and they…

A random search of a partially absorbing target by a run-and-tumble particle in a confined one-dimensional space is investigated. We analytically obtain the mean searching time, which shows a non-monotonic behavior as a function of the…

We analyze the continuum limit of a thresholding algorithm for motion by mean curvature of one dimensional interfaces in various space-time discrete regimes. The algorithm can be viewed as a time-splitting scheme for the Allen-Cahn equation…

Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

In this work, we study the target detection and tracking problem in mobile sensor networks, where the performance metrics of interest are probability of detection and tracking coverage, when the target can be stationary or mobile and its…

We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…

We study the existence of weak martingale solutions to a stochastic moving boundary problem arising from the interaction between an isentropic compressible fluid and a viscoelastic structure. In the model, we consider a three-dimensional…