12 papers
Variational Analysis in the Wasserstein Space
Nicolas Lanzetti, Antonio Terpin, Florian Dörfler
We study optimization problems whereby the optimization variable is a probability measure. Since the space of probability measures is not a vector space, many classical methods for…
Motion planning for hundreds of floating robots
Jan Kamm, Antonio Terpin, Raffaello D'Andrea +1
Planning collision-free motion for large robot fleets is difficult because collision avoidance induces strong inter-agent coupling that grows rapidly with team size. We consider om…
Distributionally Robust Linear Quadratic Gaussian Regulator with Stationary Distributions
Alain Schöbi, Nicolas Lanzetti, Florian Dörfler +2
We study the Linear Quadratic Gaussian regulation problem in the face of worst-case noise distributions when these are mutually independent, zero-mean, stationary, and within a rad…
Can we stabilize an inverted pendulum with feedback from a time-of-flight camera?
Anthony Czubarow, Antonio Terpin, Raffaello D'Andrea
Time-of-flight cameras are popular in robotics for providing direct depth information while being compact, inexpensive, and robust to lighting conditions, but their low spatial res…
SynthPix: A lightspeed PIV image generator
Antonio Terpin, Alan Bonomi, Francesco Banelli +1
We describe SynthPix, a synthetic image generator for Particle Image Velocimetry (PIV) with a focus on performance and parallelism on accelerators, implemented in JAX. SynthPix pro…
Flow Gym: A framework for the development, benchmarking, training, and deployment of flow-field quantification methods
Francesco Banelli, Antonio Terpin, Alan Bonomi +1
Particle image velocimetry (PIV) and related optical-flow methods are widely used to quantify fluid motion, but their development and evaluation are often hindered by fragmented so…