相关论文: PHODCOS: Pythagorean Hodograph-based Differentiabl…

In computer vision, object detection is one of most important tasks, which underpins a few instance-level recognition tasks and many downstream applications. Recently one-stage methods have gained much attention over two-stage approaches…

Since their introduction, anchoring methods in extragradient-type saddlepoint problems have inspired a flurry of research due to their ability to provide order-optimal rates of accelerated convergence in very general problem settings. Such…

We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…

The dynamics of coherent structures present in real-world environmental data is analyzed. The method developed in this Paper combines the power of the Proper Orthogonal Decomposition (POD) technique to identify these coherent structures in…

We present Pandora, a new software to model, detect, and characterize transits of extrasolar planets with moons in stellar photometric time series. Pandora uses an analytical description of the transit light curve for both the planet and…

Diffeomorphic matching (only one of several names for this technique) is a technique for non-rigid registration of curves and surfaces in which the curve or surface is embedded in the flow of a time-series of vector fields. One seeks the…

We present an improved Metropolis algorithm for arbitrary hard core systems in any dimensions. In the new updating scheme the conventional Metropolis step of a single particle is replaced by a collective step of a chain of particles. For…

The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…

Approximating distance is one of the key challenge in a facility location problem. Several algorithms have been proposed, however, none of them focused on estimating distance between two concave regions. In this work, we present an…

We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…

Spherical robots offer unique advantages for mapping applications in hazardous or confined environments, thanks to their protective shells and omnidirectional mobility. This work presents two complementary spherical mapping systems: a…

Object 6D pose estimation, a crucial task for robotics and augmented reality applications, becomes particularly challenging when dealing with novel objects whose 3D models are not readily available. To reduce dependency on 3D models, recent…

To a system of second order ordinary differential equations (SODE) one can assign a canonical nonlinear connection that describes the geometry of the system. In this work we develop a geometric setting that allows us to assign a canonical…

An algorithm is given for explicitly computing Penrose diagrams for spacetimes of the form $ds^2 = -f(r)\, dt^2 + f(r)^{-1} \, dr^2 + r^2 \, d\Omega^2$. The resulting diagram coordinates are shown to extend the metric continuously and…

Rotation curves are a fundamental tool in the study of galaxies across cosmic time, and with the advent of large integral field unit (IFU) kinematic surveys there is an increasing need for efficient and flexible modelling tools. We present…

Complex systems are commonly modeled using nonlinear dynamical systems. These models are often high-dimensional and chaotic. An important goal in studying physical systems through the lens of mathematical models is to determine when the…

DIPLODOCUS (Distribution-In-PLateaux methODOlogy for the CompUtation of transport equationS) is a novel framework being developed for the mesoscopic modelling of astrophysical systems via the transport of particle distribution functions…

Trajectory prediction plays a crucial role in the autonomous driving stack by enabling autonomous vehicles to anticipate the motion of surrounding agents. Goal-based prediction models have gained traction in recent years for addressing the…

This paper proposes novel computational multiscale methods for linear second-order elliptic partial differential equations in nondivergence-form with heterogeneous coefficients satisfying a Cordes condition. The construction follows the…

The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…