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MIT CSAIL introduces a novel framework, Graphs of Convex Sets (GCS), for efficient and reliable motion planning in robotics, addressing the challenges of navigating through complex, high-dimensional spaces with obstacles.
In this letter, a novel pattern synthesis algorithm that jointly optimizes the number, positions, and excitation of elements in a sparse linear array (SLA) is designed based on continuous compressed sensing. The pattern synthesis problem is first formulated as a sparse recovery problem, which can be solved using semidefinite programming involving atomic norm minimization (ANM). The parameters of the designed SLA, including the corresponding element positions and excitations, are determined via Vandermonde decomposition and least squares in the continuous domain. As ANM works directly in the co...