相关论文: Architecture Singularity Distance Computations for…

A finite metric space is called here distance degree regular if its distance degree sequence is the same for every vertex. A notion of designs in such spaces is introduced that generalizes that of designs in $Q$-polynomial distance-regular…

Singularity analysis is essential in robot kinematics, as singular configurations cause loss of control and kinematic indeterminacy. This paper models singularities in bar frameworks as saddle points on constrained manifolds. Given an…

Rectangles are used to approximate objects, or sets of objects, in a plethora of applications, systems and index structures. Many tasks, such as nearest neighbor search and similarity ranking, require to decide if objects in one rectangle A…

This paper introduces the induced matching distance, a novel topological metric designed to compare discrete structures represented by a symmetric non-negative function. We apply this notion to analyze agent trajectories over time. We use…

We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…

The notions of distance and similarity play a key role in many machine learning approaches, and artificial intelligence (AI) in general, since they can serve as an organizing principle by which individuals classify objects, form concepts…

The article presents an analysis of the trends in the development of kinematic structures of modern machine-building technological equipment. The prospects of using machines with parallel kinematics in processing, measuring and handling…

Architectural Description (AD) is the backbone that facilitates the implementation and validation of robotic systems. In general, current high-level ADs reflect great variation and lead to various difficulties, including mixing ADs with…

Recent studies propose enhancing machine learning models by aligning the geometric characteristics of the latent space with the underlying data structure. Instead of relying solely on Euclidean space, researchers have suggested using…

With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…

Learning in hyperbolic spaces has attracted increasing attention due to its superior ability to model hierarchical structures of data. Most existing hyperbolic learning methods use fixed distance measures for all data, assuming a uniform…

We demonstrate that a graph-based search algorithm-relying on the construction of an approximate neighborhood graph-can directly work with challenging non-metric and/or non-symmetric distances without resorting to metric-space mapping…

We present a comprehensive study on discrete morphological symmetries of dynamical systems, which are commonly observed in biological and artificial locomoting systems, such as legged, swimming, and flying animals/robots/virtual characters.…

$\beta$-skeletons, a prominent member of the neighborhood graph family, have interesting geometric properties and various applications ranging from geographic networks to archeology. This paper focuses on developing a new, more general than…

The main contribution of this dissertation is the introduction of new or improved approximation algorithms and data structures for several similarity search problems. We examine the furthest neighbor query, the annulus query, distance…

Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…

Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…

The physical design of a robot suggests expectations of that robot's functionality for human users and collaborators. When those expectations align with the true capabilities of the robot, interaction with the robot is enhanced. However,…

To quantify the fundamental evolution of time-varying networks, and detect abnormal behavior, one needs a notion of temporal difference that captures significant organizational changes between two successive instants. In this work, we…

Design of next generation computer systems should be supported by simulation infrastructure that must achieve a few contradictory goals such as fast execution time, high accuracy, and enough flexibility to allow comparison between large…