4 papers
Solving wave equation problems on D-Wave quantum annealers
Aigerim Bazarkhanova, Alejandro J. Castro, Antonio A. Valido
We solve the one-dimensional Helmholtz equation in several scenarios using the quantum annealer provided by D-Wave Systems within a pseudospectral framework, where the solution is…
MPM Lite: Linear Kernels and Integration without Particles
Xiang Feng, Yunuo Chen, Chang Yu +6
In this paper, we introduce MPM Lite, a new hybrid Lagrangian/Eulerian method that eliminates the need for particle-based quadrature at solve time. Standard MPM practices suffer fr…
CENIC: Convex Error-controlled Numerical Integration for Contact
Vince Kurtz, Alejandro Castro
State-of-the-art robotics simulators operate in discrete time. This requires users to choose a time step, which is both critical and challenging: large steps can produce non-physic…
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Vince Kurtz, Alejandro Castro, Aykut Ãzgün Ãnol +1
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve r…