相关论文: A Constrained Saddle Search Approach for Construct…
This paper addresses the problem of uniqueness in learning physical laws for systems of partial differential equations (PDEs). Contrary to most existing approaches, it considers a framework of structured model learning, where existing,…
We introduce a saddle-point finder that can find the complex saddle points for any analytically continued action. We showcase our saddle-point finder by two examples in the EPRL spin foam model: the single vertex case and the case of…
This paper proposes a computational approach to form-find pin-jointed, bar structures subjected to combinations of tension and compression forces. The generated equilibrium states can meet force and geometric constraints via gradient-based…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
A novel mechanism to derive self-entanglement-free (SEF) path for tethered differential-driven robots is proposed in this work. The problem is tailored to the deployment of tethered differential-driven robots in situations where an…
In this work, we propose a collision-free source-seeking control framework for a unicycle robot traversing an unknown cluttered environment. In this framework, obstacle avoidance is guided by the control barrier functions (CBF) embedded in…
A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. While many previous works focused on the…
If we take a (bar-joint) framework, prepare an identical copy of this framework, translate it by some vector $\tau$, and finally join corresponding points of the two copies, then we obtain a framework with `extrusion' symmetry in the…
The aim of this paper is to provide a discussion on current directions of research involving typical singularities of 3D nonsmooth vector fields. A brief survey of known results is presented. The main purpose of this work is to describe the…
The rigidity matrix is a fundamental tool for studying the infinitesimal rigidity properties of Euclidean bar-joint frameworks. In this paper we generalize this tool and introduce a rigidity matrix for bar-joint frameworks in arbitrary…
A key challenge in 3D finite element models of coupled railway vehicle-bridge dynamics is the rigorous definition of kinematic constraints and the development of an efficient, robust solution. This paper presents a novel approach that can…
Reliable controllers with high flexibility and performance are necessary for the control of intricate, advanced, and expensive systems such as aircraft, marine vessels, automotive vehicles, and satellites. Meanwhile, control allocation has…
In recent years, a myriad of advanced results have been reported in the community of imitation learning, ranging from parametric to non-parametric, probabilistic to non-probabilistic and Bayesian to frequentist approaches. Meanwhile, ample…
We discuss elastic tensegrity frameworks made from rigid bars and elastic cables, depending on many parameters. For any fixed parameter values, the stable equilibrium position of the framework is determined by minimizing an energy function…
Developing and fielding complex systems requires proof that they are reliably correct with respect to their design and operating requirements. Especially for autonomous systems which exhibit unanticipated emergent behavior, fully…
A configuration p in r-dimensional Euclidean space is a finite collection of labeled points p^1,p^2,...,p^n in R^r that affinely span R^r. Each configuration p defines a Euclidean distance matrix D_p = (d_ij) = (||p^i-p^j||^2), where ||.||…
This paper presents an alternative approach to the study of distance rigidity in networks of mobile agents, based on a subframework scheme. The advantage of the proposed strategy lies in expressing framework rigidity, which is inherently…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…
We consider the rigidity and global rigidity of bar-joint frameworks in Euclidean $d$-space under additional dilation constraints in specified coordinate directions. In this setting we obtain a complete characterisation of generic rigidity.…