8 papers
Choreographing the Way of Water: A Computational Framework for Aquatic Robotic Art
Aswin Ramachandran, Christopher Golling, Sebastian Burmester +4
Robotic choreography in open water is governed by nonlinear fluid dynamics, which impose significant challenges due to environmental disturbances and nonlinear system dynamics. Thi…
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…