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Many problems in robotics are fundamentally problems of geometry, which have led to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie algebra, and d ...
We analyze the deformation theory of equivariant vector bundles. In particular, we provide an effective criterion for verifying whether all infinitesimal deformations preserve the equivariant structure. As an application, using rigidity of the Frobenius ho ...
Layered 2D perovskites have been extensively investigated by scientists with photovoltaics (PV) expertise due to their good environmental stability. However, a random phase distribution in the perovskite film could affect both the performance and stability ...
We develop new algebraic algorithms for scalar and vector network coding. In vector network coding, the source multicasts information by transmitting vectors of length L, while intermediate nodes process and combine their incoming packets by multiplying th ...
Institute of Electrical and Electronics Engineers2011
We tackle safe trajectory planning under Gaussian mixture model (GMM) uncertainty. Specifically, we use a GMM to model the multimodal behaviors of obstacles' uncertain states. Then, we develop a mixed-integer conic approximation to the chance-constrained t ...
Understanding patterns of variation from raw measurement data remains a central goal of shape analysis. Such an understanding reveals which elements are repeated, or how elements can be derived as structured variations from a common base element. We invest ...
The classical problem in network coding theory considers communication over multicast networks. Multiple transmitters send independent messages to multiple receivers which decode the same set of messages. In this work, computation over multicast networks i ...
Kinetic models of chemical reaction systems are typically represented in terms of state variables, such as concentrations, temperature and partial pressures [1]. These state variables in turn depend on the underlying reactions, transfer phenomena, and tran ...
This paper presents the first results on AIDA/cube, algebraic and side-channel attacks on variable number of rounds of all members of the KATAN family of block ciphers. Our cube attacks reach 60, 40 and 30 rounds of KATAN32, KATAN48 and KATAN64, respective ...
A language is said to be homogeneous when all its words have the same length. Homogeneous languages thus form a monoid under concatenation. It becomes freely commutative under the simultaneous actions of every permutation group G(n) on the collection of ho ...