相关论文: Architecture Singularity Distance Computations for…
Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the…
We consider the problem of approximating a two-dimensional shape contour (or curve segment) using discrete assembly systems, which allow to build geometric structures based on limited sets of node and edge types subject to edge length and…
We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving…
When analyzing parametric statistical models, a useful approach consists in modeling geometrically the parameter space. However, even for very simple and commonly used hierarchical models like statistical mixtures or stochastic deep neural…
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it…
We study computational methods for computing the distance to singularity, the distance to the nearest high index problem, and the distance to instability for linear differential-algebraic systems (DAEs) with dissipative Hamiltonian…
We study the structured distance to singularity for a given regular matrix pencil $A+sE$, where $(A,E)\in \mathbb S \subseteq (\mathbb C^{n,n})^2$. This includes Hermitian, skew-Hermitian, $*$-even, $*$-odd, $*$-palindromic, T-palindromic,…
The goal of Point Distance Solving Problems is to find 2D or 3D placements of points knowing distances between some pairs of points. The common guideline is to solve them by a numerical iterative method (\emph{e.g.} Newton-Raphson method).…
A design graph is a regular bipartite graph in which any two distinct vertices of the same part have the same number of common neighbors. This class of graphs have a close relationship to strongly regular graphs. In this paper, we study the…
Spatial approximations have been traditionally used in spatial databases to accelerate the processing of complex geometric operations. However, approximations are typically only used in a first filtering step to determine a set of candidate…
Among (regular, normal) parabolic geometries of type $(G,P)$, there is a locally unique maximally symmetric structure and it has symmetry dimension $\dim(G)$. The symmetry gap problem concerns the determination of the next realizable…
In algorithms for finite metric spaces, it is common to assume that the distance between two points can be computed in constant time, and complexity bounds are expressed only in terms of the number of points of the metric space. We…
We present an approach to approximate reachable sets for linear systems with bounded L-infinity controls in finite time. Our first approach investigates the boundaries of these sets and reveals an exact characterization for single-input,…
This paper presents a data structure that summarizes distances between configurations across a robot configuration space, using a binary space partition whose cells contain parameters used for a locally linear approximation of the distance…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
The minimum distance of a code is an important concept in information theory. Hence, computing the minimum distance of a code with a minimum computational cost is a crucial process to many problems in this area. In this paper, we present…
Rotation distances measure the differences in structure between rooted ordered binary trees. The one-dimensional skeleta of associahedra are rotation graphs, where two vertices representing trees are connected by an edge if they differ by a…
Many applications in pattern recognition represent patterns as a geometric graph. The geometric graph distance (GGD) has recently been studied as a meaningful measure of similarity between two geometric graphs. Since computing the GGD is…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…