Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 91 for “"configuration space"”.
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Topology of configuration space on trees
Configuration Space on trees comes naturally from problems in engineering and has its own importance in mathematics. This paper reviewed the existing research results on the topological properties of classic configuration spaces and generalized some of them for the no-k-equal configuration space on …
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Robot motion planning: configuration space exploration and estimation
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms
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The Configuration Space of Two Particles Moving on a Graph
In this thesis we study the configuration space, F (Γ, 2), of two particles moving without collisions on a graph Γ with a view to calculating the Betti numbers of this space. We develop an intersection theory for cycles in graphs inspired by the classical intersection theory for cycles in manifolds …
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Inhomogeneities in the early universe from the configuration space perspective
… the corresponding evolution equations in 1 + 1 space-time dimensions with the initial conditions proportional to a spatial delta function. An arbitrary cosmological perturbation can be described as a superposition of the resulting Green's functions. In Chapter 2 we calculate the Green's …
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Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots
… the contact constraints to a single point of its configuration space. Likewise, manipulating an object requires identifying the regions of its configuration space where it is free to move under the contact constraints. The kinematic theory of second order mobility of rigid bodies is used, together …
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Incremental geometric robot motion planning
… of the collision-free portion of the robot configuration space for a line segment robot moving freely in the plane amidst polygonal obstacles. After computing an initial decomposition of the collision-free portion of the robot configuration space, these algorithms maintain that decomposition …
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Two Aspects of Topology in Graph Configuration Spaces
A graph configuration space is generated by the movement of a finite number of robots on a graph. These configuration spaces of points in a graph are topologically interesting objects. By using local, combinatorial properties, we define a new classification of graphs whose configuration spaces are …
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Optimizing Data-Intensive Computing with Efficient Configuration Tuning
… analytics systems evolves over time, more configuration parameters get exposed for tuning. While these numerous parameters allow users more control over how their workloads are executed, this flexibility comes at a cost, since finding the right configurations for such systems in a …
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Configuration spaces of thick particles on graphs
In this thesis, we study the topology of configuration spaces of particles of variable radius r>0 moving on a metric graph. Our main tool is a piecewise linear (PL) Morse-Bott theory for affine polytope complexes, which extends the Morse theory for such complexes introduced by M. Bestvina and N. …
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Hierarchical planning for multi-contact non-prehensile manipulation
… much progress in planning motions in the robot's configuration space in the presence of obstacles, progress in general manipulation planning has been more limited. The manipulation planning problem has a number of complicating factors, including the large dimensionality of the combined space. In …
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Characterizing the potential energy surface of two dimensional and bulk materials using high dimensional neural network potentials
… methods cannot be used to efficiently sample configuration space. Force field methods can efficiently sample configuration space, but rely on large parameter sets that are tuned to specific contexts. In this work we will explore the ænet approach and its application to six systems: 2D silica, …
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Aggregation for modular robots in the pivoting cube model
… algorithms for self-aggregation and self-reconfiguration of modular robots in the pivoting cube model. First, we provide generic algorithms for aggregation of robots following integrator dynamics in arbitrary dimensional configuration spaces. We describe solutions to the problem under …
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State estimation for manipulation with compliance control and force sensing
… for a simple robotic manipulation domain. The configuration space of the domain is discretized and factored into contact states and metric states. A low-level force and impedance controller is developed on a PR2 robot. Higher-dimensional generalizations, planning, and empirical results are the …
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Extensions of motion planning algorithms
… generation of narrow passages, obstacles in the configuration space can be used to constrain the sampling scope and guide sampling. This thesis develops Obstacle Activation to identify polygonal obstacles that can be used to limit the search scope and Obstacle Exploration to obtain free points in …
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Topological analysis of singularity loci for serial and parallel manipulators
… for singularityfree trajectories in the jointspace. On the other hand, parallel singularities are very dangerous for parallel manipulators, for they may provoke the local loss of platform control, and jeopardize the structural integrity of links or actuators. It is therefore utterly important …
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A reduced visibility graph approach for motion planning of autonomously guided vehicles
… a reduced visibility graph, within the AGV's configuration space, using heuristic information about the problem domain.<br/><br/>The second algorithm establishes the time minimal collision-semi-free motion for an AGV, from its start point to is goal point, in a two-dimensional dynamic …
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Making Hands: Neural Implicit Manifold Learning of Hand Gestures
… I argue that understanding the geometry of the space of hand gestures leads to an intuitive human-computer interaction. I decompose the gesture into its constituent parts, i.e., the hand motion – global coordinate system – and the hand pose – local coordinate system. I propose modeling the …
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Quantum simulation beyond periodicity: A theoretical study of the many-body and topological properties of quasiperiodic systems
… infinite-size limit. We introduce the notion of configuration-space representation for describing the Hubbard models of quasiperiodic potentials. By organising lattice sites based on their local surroundings, we find that the Hubbard model of several quasiperiodic potentials can be re-expressed …
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Control and collective intelligence of multi-agent system
… collective behaviors. Besides, topological configuration space is introduced to describe the admissible collective behaviors and design the cooperative controls. In the first part of the thesis, cyclic pursuit as a periodic joint behavior of the MAS is studied. With prescribed deployments …
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A Framework for Real-Time Path Planning in Changing Environments
… of the roadmap, including how samples of the configuration space may be generated and how to connect the samples to form the roadmap. We then discuss the mapping from the workspace to the roadmap, explaining efficient techniques for its generation and representation. We continue with some …
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