Publications associées à Hadamard's dynamical system

Dynamical system approach to navigation around obstacles

In this article, we propose a dynamical system to avoid obstacles which are star shaped and simultaneously converge to a goal. The convergence is almost-global in a domain and the stationary points are identified explicitly. Our approach is based on the id ...

2024

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

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

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

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Paul Scharnhorst

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

EPFL2024

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems

Colin Neil Jones, Roland Schwan, Melanie Nicole Zeilinger, Xuan Truong Nghiem

Physics-informed machine learning (PIML) is a set of methods and tools that systematically integrate machine learning (ML) algorithms with physical constraints and abstract mathematical models developed in scientific and engineering domains. As opposed to ...

IEEE2023

A Comparison of Residual-based Methods on Fault Detection

Olga Fink, Gaëtan Michel Frusque

An important initial step in fault detection for complex industrial systems is gaining an understanding of their health condition. Subsequently, continuous monitoring of this health condition becomes crucial to observe its evolution, track changes over tim ...

PHM Society2023

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Aude Billard, Harshit Khurana

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

2023

Level statistics of the one-dimensional ionic Hubbard model

Andreas Martin Läuchli Herzig

In this paper we analyze the spectral level statistics of the one-dimensional ionic Hubbard model, the Hubbard model with an alternating on-site potential. In particular, we focus on the statistics of the gap ratios between consecutive energy levels. This ...

2022

Non-destructive Prediction of the Buckling Load of Cylindrical Shells

Emilio José Lozano Vazquez

The current research focuses on the prediction of the maximum axial compression load a cylindrical shell is able to bear. This maximum axial compression load is the value at which a cylindrical shell loses stability and abruptly buckles. After the buckling ...

EPFL2022

Periodic orbits exhibit oblique stripe patterns in plane Couette flow

Tobias Schneider, Florian Reetz

Spatiotemporally chaotic dynamics of transitional plane Couette flow may give rise to regular turbulent-laminar stripe patterns with a large-scale pattern wavelength and an oblique orientation relative to the laminar flow direction. A recent dynamical syst ...

AMER PHYSICAL SOC2021