Publications associées à Dynamical system approach to navigation around obstacles

Hitting with Probability One for Stochastic Heat Equations with Additive Noise

We study the hitting probabilities of the solution to a system of d stochastic heat equations with additive noise subject to Dirichlet boundary conditions. We show that for any bounded Borel set with positive (d-6)\documentclass[12pt]{minimal} \usepackage{ ...

Springer/Plenum Publishers2024

Reliable data-driven decision-making through optimal transport

Bahar Taskesen

Decision-making permeates every aspect of human and societal development, from individuals' daily choices to the complex decisions made by communities and institutions. Central to effective decision-making is the discipline of optimization, which seeks th ...

EPFL2024

Reducing uncertainties in response predictions of earthquake-damaged masonry buildings using data from image-based inspection

Ian Smith, Katrin Beyer, Bryan German Pantoja Rosero, Mathias Christian Haindl Carvallo

Image information about the state of a building after an earthquake, which can be collected without endangering the post-earthquake reconnaissance activities, can be used to reduce uncertainties in response predictions for future seismic events. This paper ...

Springer2024

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

A Note on Lenses in Arrangements of Pairwise Intersecting Circles in the Plane

Rom Pinchasi

Let F be a family of n pairwise intersecting circles in the plane. We show that the number of lenses, that is convex digons, in the arrangement induced by F is at most 2n - 2. This bound is tight. Furthermore, if no two circles in F touch, then the geometr ...

Electronic Journal Of Combinatorics2024

Stability: a search for structure

Wouter Jongeneel

In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...

EPFL2024

Additive and geometric transversality of fractal sets in the integers

Florian Karl Richter

By juxtaposing ideas from fractal geometry and dynamical systems, Furstenberg proposed a series of conjectures in the late 1960's that explore the relationship between digit expansions with respect to multiplicatively independent bases. In this work, we in ...

2024

Searching for the Thinnest Metallic Wire

Nicola Marzari, Davide Campi

One-dimensional materials have gained much attention in the last decades: from carbon nanotubes to ultrathin nanowires to few-atom atomic chains, these can all display unique electronic properties and great potential for next-generation applications. Exfol ...

Amer Chemical Soc2024

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

Thick points of the planar GFF are totally disconnected for all & gamma;=6 0*

Juhan Aru

We prove that the set of-y-thick points of a planar Gaussian free field (GFF) with Dirichlet boundary conditions is a.s. totally disconnected for all-y =6 0. Our proof relies on the coupling between a GFF and the nested CLE4. In particular, we show that th ...

INST MATHEMATICAL STATISTICS-IMS2023

The first Grushin eigenvalue on cartesian product domains

Joachim Stubbe, Luigi Provenzano, Paolo Luzzini

In this paper, we consider the first eigenvalue.1(O) of the Grushin operator.G :=.x1 + |x1|2s.x2 with Dirichlet boundary conditions on a bounded domain O of Rd = R d1+ d2. We prove that.1(O) admits a unique minimizer in the class of domains with prescribed ...

WALTER DE GRUYTER GMBH2023

Present design of the Steering Mirror Assembly (SMA) for ITER ECHUL

René Chavan, Timothy Goodman, Anastasia Xydou

In the ITER Tokamak, four Electron Cyclotron Heating Upper Launchers (ECHUL) are needed to control plasma instabilities at the rational surfaces, most importantly the q = 3/2 and q = 2/1 neoclassical tearing modes (NTMs). Each ECHUL is equipped with a set ...

2023

State of the Art in Dense Monocular Non-Rigid 3D Reconstruction

Pascal Fua

3D reconstruction of deformable (or non-rigid) scenes from a set of monocular 2D image observations is a long-standing and actively researched area of computer vision and graphics. It is an ill-posed inverse problem, since-without additional prior assumpti ...

WILEY2023

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

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

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

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

Equivariant Neural Architectures for Representing and Generating Graphs

Clément Arthur Yvon Vignac

Graph machine learning offers a powerful framework with natural applications in scientific fields such as chemistry, biology and material sciences. By representing data as a graph, we encode the prior knowledge that the data is composed of a set of entiti ...

EPFL2023

Results on Sparse Integer Programming and Geometric Independent Sets

Jana Tabea Cslovjecsek

An integer linear program is a problem of the form max{c^T x : Ax=b, x >= 0, x integer}, where A is in Z^(n x m), b in Z^m, and c in Z^n. Solving an integer linear program is NP-hard in general, but there are several assumptions for which it becomes fixed ...

EPFL2023

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

Spectral and thermodynamic properties of interacting electrons with dynamical functionals

Tommaso Chiarotti

Empowered by ever-increasing computational power and algorithmic developments, electronic-structure simulations continue to drive research and innovation in materials science. In this context, ab-initio calculations offer an unbiased platform for the under ...

EPFL2023

Defects in III-N LEDs: experimental identification and impact on electro-optical characteristics

Jean-François Carlin, Nicolas Grandjean, Mauro Mosca, Camille Haller

III-N light-emitting-diodes (LEDs) are subject of intense investigations, thanks to their high efficiency and great reliability. The quality of the semiconductor material has a significant impact on the electro-optical performance of LEDs: for this reason, ...

SPIE-INT SOC OPTICAL ENGINEERING2022