相关论文: Corotational modeling and NURBS-based kinematic co…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…

Multibody dynamics simulations have become widely used tools for vehicle systems analysis and design. As this approach evolves, it becomes able to provide additional information for various types of analyses. One very important direction is…

The investigation of the nonequilibrium quantum dynamics of bosonic many-body systems is very challenging due to the excessively growing Hilbert space and poses a major problem for their theoretical description and simulation. We present a…

A numerical method for particle-laden fluids interacting with a deformable solid domain and mobile rigid parts is proposed and implemented in a full engineering system. The fluid domain is modeled with a lattice Boltzmann representation,…

Multibody dynamics simulations are currently widely accepted as valuable means for dynamic performance analysis of mechanical systems. The evolution of theoretical and computational aspects of the multibody dynamics discipline make it…

Parameter estimation in structural dynamics generally involves inferring the values of physical, geometric, or even customized parameters based on first principles or expert knowledge, which is challenging for complex structural systems. In…

Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train…

Non-Uniform Rational B-Spline (NURBS) surfaces are commonly used within Computer-Aided Design (CAD) tools to represent geometric objects. When using isogeometric analysis (IGA), it is possible to use such NURBS geometries for numerical…

Dynamics in correlated quantum matter is a hard problem, as its exact solution generally involves a computational effort that grows exponentially with the number of constituents. While a remarkable progress has been witnessed in recent…

The challenges to solving the collision avoidance problem lie in adaptively choosing optimal robot velocities in complex scenarios full of interactive obstacles. In this paper, we propose a distributed approach for multi-robot navigation…

One of the main concerns in design and process planning for multi-axis additive and subtractive manufacturing is collision avoidance between moving objects (e.g., tool assemblies) and stationary objects (e.g., a part unified with fixtures).…

Multi-object tracking (MOT) is crucial for various multi-agent analyses such as evaluating team sports tactics and player movements and performance. While pedestrian tracking has advanced with Tracking-by-Detection MOT, team sports like…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

A neural network system in an animal brain contains many modules and generates adaptive behavior by integrating the outputs from the modules. The mathematical modeling of such large systems to elucidate the mechanism of rapidly finding…

Reachability analysis provides formal guarantees for performance and safety properties of nonlinear control systems. Here, one aims to compute the backward reachable set (BRS) or tube (BRT) -- the set of states from which the system can be…

Trajectory forecasting is crucial for video surveillance analytics, as it enables the anticipation of future movements for a set of agents, e.g. basketball players engaged in intricate interactions with long-term intentions. Deep generative…

Traffic-density matrices from different days exhibit both low rank and stable correlations in their singular-vector subspaces. Leveraging this, we introduce SATORIS-N, a framework for imputing partially observed traffic-density by informed…

We develop two new sets of stable, rank-adaptive Dynamically Orthogonal Runge-Kutta (DORK) schemes that capture the high-order curvature of the nonlinear low-rank manifold. The DORK schemes asymptotically approximate the truncated singular…

One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…

This paper introduces a novel method for compact representation of sets of n-dimensional binary sequences in a form of compact triplets structures (CTS), supposing both logic and arithmetic interpretations of data. Suitable illustration of…