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Convex polytope

Publications associées (143)

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Mikhail Koptev, Nadia Barbara Figueroa Fernandez

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024

Non-parametric IQC Multipliers in Data-Driven Robust Controller Synthesis

Alireza Karimi, Vaibhav Gupta, Elias Sebastian Klauser

The paper presents a robust data-driven controller synthesis method for generalised multi-input multioutput (MIMO) systems. Using the frequency response of a linear time-invariant (LTI) MIMO system and characterising perturbations through Integral Quadrati ...

2024

Fully solvable finite simplex lattices with open boundaries in arbitrary dimensions

Fabrizio Minganti

Finite simplex lattice models are used in different branches of science, e.g., in condensed-matter physics, when studying frustrated magnetic systems and non-Hermitian localization phenomena; or in chemistry, when describing experiments with mixtures. An n ...

College Pk2023

Shape Models of Lucy Targets (3548) Eurybates and (21900) Orus from Disk-integrated Photometry

Stephan Hellmich

We use our new light curves, along with historical data, to determine the rotation state, photometric properties, and convex shape models of the targets of the Lucy mission (3548) Eurybates and (21900) Orus. We determine a retrograde spin for both targets, ...

IOP Publishing Ltd2023

Stochastic homogenization of degenerate integral functionals with linear growth

Matthias Ruf

We study the limit behaviour of sequences of non-convex, vectorial, random integral functionals, defined on W1,1, whose integrands are ergodic and satisfy degenerate linear growth conditions. The latter involve suitable random, scale-dependent weight-funct ...

2023

Structural topology exploration through policy-based generation of equilibrium representations

Corentin Jean Dominique Fivet, Ioannis Mirtsopoulos

Mainstream approaches to design spatial architectural forms that are structurally relevant consist either in adapting well-known and catalogued conventional types or in searching for close-to-optimum solutions of well-defined problems. Few means exist to e ...

2023

T-5 configurations and hyperbolic systems

Carl Johan Peter Johansson, Riccardo Tione

In this paper, we study the rank-one convex hull of a differential inclusion associated to entropy solutions of a hyperbolic system of conservation laws. This was introduced in [B. Kirchheim, S. Muller and V. S(sic)ver & aacute;k, Studying Nonlinear PDE by ...

WORLD SCIENTIFIC PUBL CO PTE LTD2023

Hand and face somatotopy shown using MRI-safe vibrotactile stimulation with a novel soft pneumatic actuator (SPA)-skin interface

Jamie Paik, Harshal Arun Sonar

The exact somatotopy of the human facial representation in the primary somatosensory cortex (S1) remains de-bated. One reason that progress has been hampered is due to the methodological challenge of how to apply automated vibrotactile stimuli to face area ...

ACADEMIC PRESS INC ELSEVIER SCIENCE2023

Safe Motion Planning against Multimodal Distributions Based on a Scenario Approach

Maryam Kamgarpour

We present the design of a motion planning algorithm that ensures safety for an autonomous vehicle. In particular, we consider a multimodal distribution over uncertainties; for example, the uncertain predictions of future trajectories of surrounding vehicl ...

2022

On The Convergence Of Stochastic Primal-Dual Hybrid Gradient

Volkan Cevher, Ahmet Alacaoglu

In this paper, we analyze the recently proposed stochastic primal-dual hybrid gradient (SPDHG) algorithm and provide new theoretical results. In particular, we prove almost sure convergence of the iterates to a solution with convexity and linear convergenc ...

SIAM PUBLICATIONS2022

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