Visual aura is a common migraine symptom. Prediction of their spatio-temporal evolution can help to understand the underlying etiology. Self-organization is used on the curved surface of the visual cortex to reproduce human retinotopy. The neural layer of the SOM algorithm is created by a novel approach to implement centroidal Voronoi tesselations on meshes. Realistic retinotopic maps are obtai...

In this paper, we study the problem of multi-robot coverage when the evolution of the robots’ positions is uncertain. More precisely, we use the popular Voronoi coverage control approach [1], which is based on the iterative construction of a centroidal Voronoi tessellation, and ask what happens to the control law and the Voronoi tessellation under actuation and measurement noise. We present a f...

A popular vector quantization scheme can be constructed by the Centroidal Voronoi tessellations (CVTs) which also have many other applications in diverse areas of science and engineering. The development of efficient algorithms for their construction is a key to the successful applications of CVTs in practice. This paper studies the details of a new optimization based multilevel algorithm for t...

The recently introduced Multi-dimensional Archive of Phenotypic Elites (MAP-Elites) is an evolutionary algorithm capable of producing a large archive of diverse, high-performing solutions in a single run. It works by discretizing a continuous feature space into unique regions according to the desired discretization per dimension. While simple, this algorithm has a main drawback: it cannot scale...

Centroidal Voronoi Tesselation (CVT) of points has many applications in geometry processing, including re-meshing and segmentation to name but a few. In this paper, we propose a new extension of CVT, generalized to graphs. Given a graph and a 3D polygonal surface, our method optimizes the placement of the vertices of the graph in such a way that the graph segments best approximate the shape of ...

Centroidal Voronoi Tessellation (CVT) of points has many applications in geometry processing, including remeshing and segmentation, to name but a few. In this paper, we generalize the CVT concept to graphs via a variational characterization. Given a graph and a 3D polygonal surface, our method optimizes the placement of the vertices of the graph in such a way that the graph segments best approx...

One of the major tasks in swarm intelligence is to design decentralized but homogenoeus strategies to enable controlling the behaviour of swarms of agents. It has been shown in the literature that the point of convergence and motion of a swarm of autonomous mobile agents can be controlled by using cyclic pursuit laws. In cyclic pursuit, there exists a predefined cyclic connection between agents...

This letter presents a new push recovery algorithm for humanoid robots in balancing scenarios by exploiting the system's rotational dynamics. The proposed framework actively generates centroidal angular momentum (CAM) references based on force magnitude and direction of to counteract disturbance maintain its balance. Since robot can only store limited amount momentum, CAM reference is generated...