相关论文: Motion camouflage in three dimensions
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to…
Search problems at various scales involve a searcher, be it a molecule before reaction or a foraging animal, which performs an intermittent motion. Here we analyze a generic model based on such type of intermittent motion, in which the…
Motion is an important cue for video prediction and often utilized by separating video content into static and dynamic components. Most of the previous work utilizing motion is deterministic but there are stochastic methods that can model…
Nonlinear contact dynamics are widely regarded as intrinsically nonlinear systems whose behaviour depends strongly on geometry and impact conditions. Here we show that any one-dimensional conservative contact system satisfying monotone…
This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination…
We present and analyse a backtracking strategy for a general Fast Iterative Shrinkage/Thresholding Algorithm which has been recently proposed in (Chambolle, Pock, 2016) for strongly convex objective functions. Differently from classical…
Evaluating safety performance in a resource-efficient way is crucial for the development of autonomous systems. Simulation of parameterized scenarios is a popular testing strategy but parameter sweeps can be prohibitively expensive. To…
We introduce a model for the slow relaxation of an energy landscape caused by its local interaction with a random walker whose motion is dictated by the landscape itself. By choosing relevant measures of time and potential this…
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…
Closed-loop attitude steering can be used to implement a non-standard attitude maneuver by using a conventional attitude control system to track a non-standard attitude profile. The idea has been employed to perform zero-propellant…
The design of guidance law can be considered a kind of finite-time error-tracking problem. A unified free-time convergent guidance law design approach based on the error dynamics and the free-time convergence method is proposed in this…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…
This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous…
We consider the problem of generating motion plans for a robot that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, and disturbances. Furthermore, we consider scenarios where these plans must…
Steganography, the art of information hiding, has continually evolved across visual, auditory and linguistic domains, adapting to the ceaseless interplay between steganographic concealment and steganalytic revelation. This study seeks to…
The refraction of a light ray by a homogeneous, isotropic and non-dispersive transparent material half-space in uniform rectilinear motion is investigated theoretically. The approach is an amalgamation of the original Fermat's principle and…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…