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In this work we study permutation synchronisation for the challenging case of partial permutations, which plays an important role for the problem of matching multiple objects (e.g. images or shapes). The term synchronisation refers to the property that the set of pairwise matchings is cycle-consistent, i.e. in the full matching case all compositions of pairwise matchings over cycles must be equal
Statistical shape models based on point distribution models are powerful tools for image segmentation or shape analysis. The most challenging part in the generation of point distribution models is the identification of corresponding landmarks among all training shapes. Since in general the true correspondences are unknown, correspondences are frequently established under the hypothesis that correc
In this concise yet comprehensive Open Access textbook, future inventors are introduced to the key concepts of Cyber-Physical Systems (CPS). Using modeling as a way to develop deeper understanding of the computational and physical components of these systems, one can express new designs in a way that facilitates their simulation, visualization, and analysis. Concepts are introduced in a cross-disc
A platoon consists of a string of vehicles traveling close together. Such tight formation allows for increased road throughput and reduced fuel consumption due to decreased air resistance. Furthermore, sensors and control algorithms can be used to provide a high level of automation. In this context, safety - in terms of no rear-end collisions - is a key property that needs to be assured. We invest
Unmanned ground vehicles (UGVs) equipped with surveillance cameras present a flexible complement to the numerous stationary sensors being used in security applications today. However, to take full advantage of the flexibility and speed offered by a group of UGV platforms, a fast way to compute desired camera locations that cover or surround a set of buildings e.g., in response to an alarm, is need
Representing 3D shape deformations by high-dimensional linear models has many applications in computer vision and medical imaging. Commonly, using Principal Components Analysis a low-dimensional subspace of the high-dimensional shape space is determined. However, the resulting factors (the most dominant eigenvectors of the covariance matrix) have global support, i.e. changing the coefficient of a
We propose a combinatorial solution for the problem of non-rigidly matching a 3D shape to 3D image data. To this end, we model the shape as a triangular mesh and allow each triangle of this mesh to be rigidly transformed to achieve a suitable matching to the image. By penalising the distance and the relative rotation between neighbouring triangles our matching compromises between the image and the
In this paper we give a distributed solution to the problem of making a team of non-holonomic robots achieve the same heading (attitude consensus problem) using vision sensors with limited field of view. The use of cameras with constrained field of view limits the information the robots perceive compared to other omnidirectional sensors. This makes the consensus problem more complicated, because t
This note presents two theorems on asymptotic state consensus of continuous time nonlinear multi-agent systems. The agents reside in Rm and have switching interconnection topologies. Both the first theorem, formulated in terms of the states of individual agents, and the second theorem, formulated in terms of the pairwise states for pairs of agents, can be interpreted as variants of Lyapunov's seco
The Kuramoto model evolves on the circle, i.e., the 1-sphere mathsf S^ 1. A graph mathcal G is referred to as mathsf S^ 1 -synchronizing if the Kuramoto model on mathcal G synchronizes almost globally. This paper generalizes the Kuramoto model and the concept of synchronizing graphs to the Stiefel manifold St (p, n). Previous work on generalizations of the Kuramoto model have largely been influenc
In this paper, the multi pursuer version of the pursuit evasion problem in polygonal environments is addressed. This problem is NP-hard, and therefore we seek good enough, but not optimal solutions. By modeling the problem as a Boolean Control Network, we can efficiently keep track of which regions are cleared, and which are not, while the input nodes of the network are used to represent the motio
This letter provides a safety analysis for emergencybraking scenarios involving consecutive vehicles. The vehicles useadaptive cruise control (ACC) with a constant-distance policytogether with additional vehicle-to-vehicle (V2V) communicationfor emergency braking. We provide explicit formulas describinghow the minimum safe inter-vehicle distance (IVD), for avoidingrear-end collision, can be shorte
Consensus problems for complex networked systems composed of interconnected interacting agents have received considerable attention in recent years partly due to the ever-increasing number of applications in various areas, such as swarm dynamics, smart grids, sensor networks, intelligent transportation systems, unmanned aerial vehicles, telerobotics, and the military. The design of consensus proto
The ongoing war in Ukraine is associated with unprecedented radiological threats to the public in Ukraine and the neighboring countries. This calls for fundamental revision of the preparedness plans and established approaches to radiological monitoring of the populations affected by potential radiological emergencies. Dosimetric information will be needed for triage of victims and support to decis
Males that behave violently to achieve social and reproductive objectives are a widespread phenomenon among mammals, as well as humans. Because this kind of behaviour can be socially very disruptive, its continued survival in human populations, in particular, remains a puzzle. We use historical data on the pedigrees of medieval Icelandic Vikings to test the hypothesis that males who killed had hig
In this study, high pressure synchrotron powder X-ray diffraction is used to investigate the compression of two high pressure polymorphs of CrSb2. The first is the CuAl2-type polymorph with an eight-fold coordinated Cr, which can be quenched to ambient conditions from high-pressure high-temperature conditions. The second is the recently discovered MoP2-type polymorph, which is induced by compressi
Quinones are organic molecules that facilitate electron-transfer reactions in terrestrial environments. The reduced forms, hydroquinones, are powerful reductants that can trigger non-enzymatic radical-based decomposition of organic matter and contaminants by simultaneous reduction of iron and oxygen. Iron oxides often occur as coatings on other minerals, thus our study investigated the reactions b
This paper addresses the problem of consensus on SO(3) for networks of uncalibrated cameras. Under the assumption of a pinhole camera model, we prove convergence to the consensus manifold for two types of kinematic control laws, when only conjugate rotation matrices KRK -1 are available among the agents. In these conjugate rotations, the rotation matrices are distorted by the (unknown) intrinsic p
