相关论文: A Degree of Flowability for Virtual Tubes

Learning-based approaches for controlling safety-critical systems are rapidly growing in popularity; thus, it is important to assure their performance and safety. Hamilton-Jacobi (HJ) reachability analysis is a popular formal verification…

When designing swarm-robotic systems, systematic comparison of algorithms from different domains is necessary to determine which is capable of scaling up to handle the target problem size and target operating conditions. We propose a set of…

To predict liquid-gas two-phase flow phenomena, accurate tracking and prediction of the evolving liquid-gas interface is required. Volume-of-Fluid or VoF method has been used in the literature for computationally modeling of such flows. In…

Humans manipulate various kinds of fluids in their everyday life: creating latte art, scooping floating objects from water, rolling an ice cream cone, etc. Using robots to augment or replace human labors in these daily settings remain as a…

The volume of fluid (VOF) method is a popular approach for multiphase flow modeling. The open-source computational fluid dynamics (CFD) software, OpenFOAM, implements a variety of VOF-based solvers and provides users a wide range of…

We investigate a two-dimensional network simulator capable of modeling different time dependencies in two-phase drainage displacements. In particular, we focus on the temporal evolution of the pressure due to capillary and viscous forces…

We introduce a new stochastic verification algorithm that formally quantifies the behavioral robustness of any time-continuous process formulated as a continuous-depth model. Our algorithm solves a set of global optimization (Go) problems…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. An air traffic management (ATM) system is needed to help ensure that this newest entrant into the skies does not collide with…

We perform direct numerical simulations (DNS) of a turbulent channel flow over porous walls. In the fluid region the flow is governed by the incompressible Navier--Stokes (NS) equations, while in the porous layers the Volume-Averaged…

This paper preliminarily investigates the duality between flow matching in generative models and particle swarm optimization (PSO) in evolutionary computation. Through theoretical analysis, we reveal the intrinsic connections between these…

We propose a simple model to analyze the traffic of droplets in microfluidic ``dual networks''. Such functional networks which consist of two types of channels, namely those accessible or forbidden to droplets, often display a complex…

The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…

In many applications, robots autonomous deployment is preferable and sometimes it is the only affordable solution. To address this issue, virtual force (VF) is one of the prominent approaches to performing multirobot deployment…

Viscous streaming is an efficient rectification mechanism to exploit flow inertia at small scales for fluid and particle manipulation. It typically entails a fluid vibrating around an immersed solid feature that, by concentrating stresses,…

Deep Reinforcement learning holds the guarantee of empowering self-ruling robots to master enormous collections of conduct abilities with negligible human mediation. The improvements brought by this technique enables robots to perform…

The theory of swarm control shows promise for controlling multiple objects, however, scalability is hindered by cost constraints, such as hardware and infrastructure. Virtual Reality (VR) can overcome these limitations, but research on…

The complexity of binary droplet collisions increases for the collision of immiscible liquids with the occurrence of triple lines and thin encapsulating films. The Volume of Fluid (VOF) method is extended with an efficient interface…

Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to…

The increasing use of deep neural networks for safety-critical applications, such as autonomous driving and flight control, raises concerns about their safety and reliability. Formal verification can address these concerns by guaranteeing…

This study focuses on reachability problems in differential games. An improved level set method for computing reachable tubes is proposed in this paper. The reachable tube is described as a sublevel set of a value function, which is the…