arXiv subjects

Jacob Moore

Publications and source records attributed to Jacob Moore.

6 recordsLinked to original sources

arXiv2026

Parsimonious Mixtures of Skewed Bilinear Factor Analyzers

Mixture models which cluster skewed random matrices can often suffer from over-parameterization in the absence of performing dimension reduction. Even with the use of bilinear factor analyzers, further parameter reduction can be achieved by constraining parameters over clusters. In this manuscript propose a parsimonious family of 256 models for mixtures of skewed matrix variate bilinear factor analyzers, specifically in the case of the skew t distribution. An AECM algorithm for parameter estimation is discussed in detail. Further, extensive simulations are performed, and the method is considered in the case of the MNIST dataset and the Olivetti faces dataset.

stat.ME↗

arXiv2026

ROScopter: A Multirotor Autopilot based on ROSflight 2.0

ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed to interface with ROSflight 2.0 and runs entirely on an onboard flight computer, leveraging the features of ROS 2 to improve modularity. This work describes the architecture of ROScopter and how it can be used to test application code in both simulated and hardware environments. Hardware results of the default ROScopter behavior are presented, showing that ROScopter achieves similar performance to another state-of-the-art autopilot for basic waypoint-following maneuvers, but with a significantly reduced and more modular code-base.

cs.RO↗

arXiv2025

A structure-preserving Lagrangian discontinuous Galerkin method using flux and slope limiting

We introduce a Lagrangian nodal discontinuous Galerkin (DG) cell-centered hydrodynamics method for solving multi-dimensional hyperbolic systems. By incorporating an adaptation of Zalesak's flux-corrected transport algorithm, we combine a first-order positivity-preserving scheme with a higher-order target discretization. This results in a flux-corrected Lagrangian DG scheme that ensures both global positivity preservation and second-order accuracy for the cell averages of specific volume. The correction factors for flux limiting are derived from specific volume and applied to all components of the solution vector. We algebraically evolve the volumes of mesh cells using a discrete version of the geometric conservation law (GCL). The application of a limiter to the GCL fluxes is equivalent to moving the mesh using limited nodal velocities. Additionally, we equip our method with a locally bound-preserving slope limiter to effectively suppress spurious oscillations. Nodal velocity and external forces are computed using a multidirectional approximate Riemann solver to maintain conservation of momentum and total energy in vertex neighborhoods. Employing linear finite elements and a second-order accurate time integrator guarantees GCL consistency. The results for standard test problems demonstrate the stability and superb shock-capturing capabilities of our scheme.

math.NA↗

arXiv2025

ROSflight 2.0: Lean ROS 2-Based Autopilot for Unmanned Aerial Vehicles

ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to hardware experiments by maintaining a lean (not full-featured), well-documented, and modular codebase. This publication builds on previous treatments and describes significant additions to the architecture that improve the modularity and usability of ROSflight, including the transition from ROS 1 to ROS 2, supported hardware, low-level actuator mixing, and the simulation environment. We believe that these changes improve the usability of ROSflight and enable ROSflight to accelerate research in areas like advanced-air mobility. Hardware results are provided, showing that ROSflight is able to control a multirotor over a serial connection at 400 Hz while closing all control loops on the companion computer.

cs.RO↗

arXiv2025

ROSplane 2.0: A Fixed-Wing Autopilot for Research

Unmanned aerial vehicle (UAV) research requires the integration of cutting-edge technology into existing autopilot frameworks. This process can be arduous, requiring extensive resources, time, and detailed knowledge of the existing system. ROSplane is a lean, open-source fixed-wing autonomy stack built by researchers for researchers. It is designed to accelerate research by providing clearly defined interfaces with an easily modifiable framework. Built around ROS 2, ROSplane allows for rapid integration of low or high-level control, path planning, or estimation algorithms. A focus on lean, easily-understood code and extensive documentation lowers the barrier to entry for researchers. Recent developments to ROSplane improve its capacity to accelerate UAV research, including the transition from ROS 1 to ROS 2, enhanced estimation and control algorithms, increased modularity, and an improved aerodynamic modeling pipeline. This aerodynamic modeling pipeline significantly reduces the effort of transitioning from simulation to real-world testing without requiring costly system identification or computational fluid dynamics tools. ROSplane's architecture reduces the effort required to integrate new research tools and methods, expediting hardware experimentation.

cs.RO↗

arXiv2023

Coupling nonconforming and enriched Galerkin methods for robust discretization and fast solvers of poroelasticity problems

In this paper we propose a new finite element discretization for the two-field formulation of poroelasticity which uses the elastic displacement and the pore pressure as primary variables. The main goal is to develop a numerical method with small problem sizes which still achieve key features such as parameter-robustness, local mass conservation, and robust preconditionor construction. For this we combine a nonconforming finite element and the interior over-stabilized enriched Galerkin methods with a suitable stabilization term. Robust a priori error estimates and parameter-robust preconditioner construction are proved, and numerical results illustrate our theoretical findings.

math.NA↗