相关论文: Data-Driven Dynamics Modeling of Miniature Robotic…

Neural ordinary differential equations are an attractive option for modelling temporal dynamics. However, a fundamental issue is that the solution to an ordinary differential equation is determined by its initial condition, and there is no…

Long-horizon motion forecasting for multiple autonomous robots is challenging due to non-linear agent interactions, compounding prediction errors, and continuous-time evolution of dynamics. Learned dynamics of such a system can be useful in…

We propose heavy ball neural ordinary differential equations (HBNODEs), leveraging the continuous limit of the classical momentum accelerated gradient descent, to improve neural ODEs (NODEs) training and inference. HBNODEs have two…

Pneumatic artificial muscles (PAMs) enable compliant actuation for soft wearable, assistive, and interactive robots. When arranged antagonistically, PAMs can provide variable impedance through co-contraction but exhibit coupled, nonlinear,…

Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…

In this paper we propose two numerical algorithms to solve a coupled PDE-ODE system which models a slow vehicle (bottleneck) moving on a road together with other cars. The resulting system is fully coupled because the dynamics of the slow…

In this paper, we follow the physics guided modeling approach and integrate a neural differential equation network into the physical structure of a vehicle single track model. By relying on the kinematic relations of the single track…

This paper addresses the problem of data-driven modeling and verification of perception-based autonomous systems. We assume the perception model can be decomposed into a canonical model (obtained from first principles or a simulator) and a…

Reliable autonomous navigation requires adapting the control policy of a mobile robot in response to dynamics changes in different operational conditions. Hand-designed dynamics models may struggle to capture model variations due to a…

We investigate the use of reduced-order modelling to run discrete element simulations at higher speeds. Taking a data-driven approach, we run many offline simulations in advance and train a model to predict the velocity field from the mass…

Spacecraft are vital to space exploration and are often equipped with lightweight, flexible appendages to meet strict weight constraints. These appendages pose significant challenges for modeling and control due to their inherent…

Bayesian Neural Networks (BNN) have recently emerged in the Deep Learning world for dealing with uncertainty estimation in classification tasks, and are used in many application domains such as astrophysics, autonomous driving...BNN assume…

A miniature robotic blimp, as one type of lighter-than-air aerial vehicle, has attracted increasing attention in the science and engineering field for its long flight duration and safe aerial locomotion. While a variety of miniature robotic…

We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…

Many engineered physical processes exhibit nonlinear but asymptotically stable dynamics that converge to a finite set of equilibria determined by control inputs. Identifying such systems from data is challenging: stable dynamics provide…

Neural operators have emerged as fast surrogate solvers for parametric partial differential equations (PDEs). However, purely data-driven models often require extensive training data and can generalize poorly, especially in small-data…

Species transport models typically combine partial differential equations (PDEs) with relations from hindered transport theory to quantify electromigrative, convective, and diffusive transport through complex nanoporous systems; however,…

Accurate prediction of the dynamics and deformation of freely moving drops is crucial for numerous droplet applications. When the Weber number is finite but below a critical value, the drop deviates from its spherical shape and deforms as…

Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…