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Dynamical system approach to navigation around obstacles

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Networks of Self-Adaptive Dynamical Systems

Max-Olivier Hongler, Julio Rodriguez

We discuss the adaptive behaviour of a collection of heterogeneous dynamical systems interacting via a weighted network. At each vertex, the network is endowed with a dynamical system with individual (initially different) control parameters governing the l ...

Oxford University Press2012

A Dynamical System Approach to Realtime Obstacle Avoidance

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a novel approach to real-time obstacle avoidance based on dynamical systems (DS) that ensures impenetrability of multiple convex shaped objects. The proposed method can be applied to perform obstacle avoidance in Cartesian and Joint spa ...

Springer Verlag2012

The Exact Hausdorff Measure of the Zero Set of Fractional Brownian Motion

Thomas Mountford, Driss Baraka

Let {X(t), t is an element of R-N} be a fractional Brownian motion in R-d of index H. If L(0,I) is the local time of X at 0 on the interval I subset of R-N, then there exists a positive finite constant c(=c(N,d,H)) such that ...

Springer US2011

Orthogeodesic Point-Set Embedding of Trees

Radoslav Fulek, Fabrizio Frati

Let S be a set of N grid points in the plane, no two of which lie on the same horizontal or vertical line, and let G be a graph with n vertices (n

Elsevier Science Bv2011

N° 2 Lighthouse Project 2e éd.

Dieter Dietz, Aline Dubach

The Lighthouse Project proposes a house. Named a House it had to address inhabitation: for whom was defined by each student. Additionally the Lighthouse had to include a public function. Light was considered as an attractor and conductor of flows in the ur ...

2011

Learning to Play Mini-Golf from Human Demonstration using Autonomous Dynamical Systems

Aude Billard, Seyed Mohammad Khansari Zadeh

We present a new formulation for autonomous (i.e. time-independent) Dynamical Systems (DS) to perform discrete robot motions with em non-zero velocity at a given target. The proposed model ensures the convergence of all trajectories to the target, and is i ...

2011

Liberalization and Competition in Postal Markets: Decentralized Infrastructure versus Cherry Picking

Martin Maegli

New entrants in postal markets usually set up delivery networks by concentrating on urban areas and large business customers. This implies that they operate their network highly centralized - at least in early phases of entrance. ...

2010

Hitting Simplices with Points in $R^3$

Abdul Basit

The so-called first selection lemma states the following: given any set P of n points in a"e (d) , there exists a point in a"e (d) contained in at least c (d) n (d+1)-O(n (d) ) simplices spanned by P, where the constant c (d) depends on d. We present impro ...

2010

CPG-based prostheses control

Marc Louis

In this thesis we describe a strategy to control robotic knees and ankles. A dynamical system is used to generate a position trajectory to control a servo motor replacing the missing joint. The dynamical system consists in a pool of coupled oscillators mod ...

2010

Alumni Profiles

Former PhD students, post-docs and junior researchers of the Section de chimie et biochimie now holding positions at different universities and private companies remember the time they spent in Geneva and give an account of how this has set off and influen ...

2009