Publications (7)
Inverse Kinematics and Sensitivity Minimization of an n-Stack Stewart Platform
David Balaban, John Cooper, Erik Komendera
An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the ass…
A Real-Time Solver For Time-Optimal Control Of Omnidirectional Robots with Bounded Acceleration
David Balaban, Alex Fischer, Joydeep Biswas
We are interested in the problem of time-optimal control of omnidirectional robots with bounded acceleration (TOC-ORBA). While there exist approximate solutions for such robots, an…
Automatic Sign Reading and Localization for Semantic Mapping with an Office Robot
David Balaban, Justin Hart
Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorit…
Efficient Placard Discovery for Semantic Mapping During Frontier Exploration
David Balaban, Harshavardhan Jagannathan, Henry Liu +1
Semantic mapping is the task of providing a robot with a map of its environment beyond the open, navigable space of traditional Simultaneous Localization and Mapping (SLAM) algorit…
PACE Solver Description: twin_width_fmi
David Balaban, Adrian MiclÄuÅ
In this paper we present \texttt{twin\_width\_fmi}'s solver for the heuristic track of PACE's 2025 competition on Minimum Dominating Set. As a baseline, we implement \texttt{greedy…
Attention Mechanisms in Dynamical Systems: A Case Study with Predator-Prey Models
David Balaban
Attention mechanisms are widely used in artificial intelligence to enhance performance and interpretability. In this paper, we investigate their utility in modeling classical dynam…