Real-Time Self-Collision Avoidance in Joint Space for Humanoid Robots

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Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

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This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

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Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

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Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

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Educational Soft Underwater Robot with an Electromagnetic Actuation

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As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

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Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

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Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

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Dynamic Voxels Based on Ego-Conditioned Prediction: An Integrated Spatio-Temporal Framework for Motion Planning

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Prediction is a vital component of motion planning for autonomous vehicles (AVs). By reasoning about the possible behavior of other target agents, the ego vehicle (EV) can navigate safely, efficiently, and politely. However, most of the existing work overl ...

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Model reduction of coupled systems based on non-intrusive approximations of the boundary response maps

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Exponential convergence to steady-states for trajectories of a damped dynamical system modeling adhesive strings

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We study the global well-posedness and asymptotic behavior for a semilinear damped wave equation with Neumann boundary conditions, modeling a one-dimensional linearly elastic body interacting with a rigid substrate through an adhesive material. The key fea ...

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An interior penalty coupling strategy for isogeometric non-conformal Kirchhoff-Love shell patches

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This work focuses on the coupling of trimmed shell patches using Isogeometric Analysis, based on higher continuity splines that seamlessly meet the

C^1

requirement of Kirchhoff-Love-based discretizations. Weak enforcement of coupling conditions is achiev ...

Springer2024

Residual-based attention in physics-informed neural networks

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Driven by the need for more efficient and seamless integration of physical models and data, physics -informed neural networks (PINNs) have seen a surge of interest in recent years. However, ensuring the reliability of their convergence and accuracy remains ...

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The Advection Boundary Law in presence of mean-flow and spinning modes

In the attempt to reduce fuel consumption, a new generation of Ultra-High-By-Pass-Ratio (UHBR) turbofans have been introduced in the aeronautic industry which are structurally noisier especially at lower frequencies, because of their larger diameter, lower ...

SPIE2024

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C^1

requirement of Kirchhoff-Love-based discretizations. Weak enforcement of coupling conditions is achiev ...

Springer2024

Residual-based attention in physics-informed neural networks

Nikolaos Stergiopoulos, Sokratis Anagnostopoulos

Elsevier Science Sa2024

The Advection Boundary Law in presence of mean-flow and spinning modes

SPIE2024