Geometry-aware Tracking of Manipulability Ellipsoids
Graph Chatbot
Chat with Graph Search
Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.
DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.
The problem of finding a k×k submatrix of maximum volume of a matrix A is of interest in a variety of applications. For example, it yields a quasi-best low-rank approximation constructed from the rows and columns of A. We show that such a submatrix ...
We present the first accelerated randomized algorithm for solving linear systems in Euclidean spaces. One essential problem of this type is the matrix inversion problem. In particular, our algorithm can be specialized to invert positive definite matrices i ...
We present the first accelerated randomized algorithm for solving linear systems in Euclidean spaces. One essential problem of this type is the matrix inversion problem. In particular, our algorithm can be specialized to invert positive definite matrices i ...
It is known that in many functions of banded, and more generally, sparse Hermitian positive definite matrices, the entries exhibit a rapid decay away from the sparsity pattern. This is in particular true for the inverse, and based on results for the invers ...
In many sensing and control applications, data are represented in the form of symmetric positive definite (SPD) matrices. Considering the underlying geometry of this data space can be beneficial in many robotics applications. In this paper, we present an e ...
Posture body variation is one of the ways in which humans skillfully and naturally augment their motion and strength capabilities along specific task-space directions in order to successfully perform complex manipulation skills. Posture variation also has ...
Any symmetric matrix can be reduced to antitriangular form in finitely many steps by orthogonal similarity transformations. This form reveals the inertia of the matrix and has found applications in, e.g., model predictive control and constraint preconditio ...
Several important applications, such as streaming PCA and semidefinite programming, involve a large-scale positive-semidefinite (psd) matrix that is presented as a sequence of linear updates. Because of storage limitations, it may only be possible to retai ...
We construct families of integrable systems that interpolate between -dimensional harmonic oscillators and Neumann systems. This is achieved by studying a family of integrable systems generated by the Casimir functions of the Lie algebra of real skew-symme ...
In this thesis, we study two distinct problems.
The first problem consists of studying the linear system of partial differential equations which consists of taking a k-form, and applying the exterior derivative 'd' to it and add the wedge product with a 1- ...
