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In this letter, we present a trajectory optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a quadruped robot. In c ...
Performance critical software is almost always developed in C, as programmers do not trust high-level languages to deliver the same reliable performance. This is bad because low-level code in unsafe languages attracts security vulnerabilities and because d ...
Metaprogramming is a technique that consists in writing programs that treat other programs as data. This paradigm of software development contributes to a multitude of approaches that improve programmer productivity, including code generation, program anal ...
This paper presents a theoretical foundation for functional language implementations of Behaviour–Interaction–Priority (BIP). We introduce a set of connector combinators describing synchronisation, data transfer, priorities and dynamicity in a principled w ...
We are currently witnessing a shift towards the use of high-level programming languages for systems development. These approaches collide with the traditional wisdom which calls for using low-level languages for building efficient software systems. This sh ...
Understanding a program entails understanding its context; dependencies, configurations and even implementations are all forms of contexts. Modern programming languages and theorem provers offer an array of constructs to define contexts, implicitly. Scala ...
In this thesis, we explore techniques for the development and verification of programs in a high-level, expressive, and safe programming language. Our programs can express problems over unbounded domains and over recursive and mutable data structures. We p ...
For any programming language that supports macros and has multiple implementations (each with different AST definitions), there is a common problem: how to make macros that operate on ASTs portable among different compiler implementations? Implementing por ...
Twentieth century has been the golden age of semiconductor industry by achieving a high level of growth as a courtesy of developments in fabrication techniques and downscaling of the technology. Since the downscaling in current lithography technology is re ...
Level: BS/MS semester project Description: Sampling signals with finite rate of innovation plays a key in the sucess of continuous domain sparse reconstructions [1], including the direction of arrival estimation (DOA) with a microphone array [2], ...
