相关论文: Corotational modeling and NURBS-based kinematic co…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
Cooperative LiDAR systems integrating vehicles and road infrastructure, termed V2I calibration, exhibit substantial potential, yet their deployment encounters numerous challenges. A pivotal aspect of ensuring data accuracy and consistency…
This article develops a new algorithm named TTRISK to solve high-dimensional risk-averse optimization problems governed by differential equations (ODEs and/or PDEs) under uncertainty. As an example, we focus on the so-called Conditional…
In this paper, a novel varying order NURBS discretization method is proposed to enhance the performance of isogeometric analysis within the framework of computational contact mechanics. The method makes use of higher-order NURBS for contact…
This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…
The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…
Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…
We propose a stroboscopic method to dynamically decouple the effects of two-body atom-atom interactions for ultracold atoms, and realize a system dominated by elastic three-body interactions. Using this method, we show that it is possible…
Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
The Capacitated Vehicle Routing Problem is a well-known NP-hard problem that poses the challenge of finding the optimal route of a vehicle delivering products to multiple locations. Recently, new efforts have emerged to create constructive…
This paper investigates the stability and stabilization of semilinear single-track vehicle models with distributed tire friction dynamics, modeled as interconnections of ordinary differential equations (ODEs) and hyperbolic partial…
Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…
We describe a computational framework for simulating suspensions of rigid particles in Newtonian Stokes flow. One central building block is a collision-resolution algorithm that overcomes the numerical constraints arising from particle…
In this study, a stabilized finite element analysis of unified Stokes-Darcy-Brinkman system fully coupled with variable coefficient Advection-Diffusion-Reaction equation(VADR) has been carried out. The viscosity of the fluid, involved in…
Vertebrae localization, segmentation and identification in CT images is key to numerous clinical applications. While deep learning strategies have brought to this field significant improvements over recent years, transitional and…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
This work proposes four novel hybrid quadrature schemes for the efficient and accurate evaluation of weakly singular boundary integrals (1/r kernel) on arbitrary smooth surfaces. Such integrals appear in boundary element analysis for…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…