Related papers: Rolling Manifolds: Intrinsic Formulation and Contr…

We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling…

In this paper we study collapsing sequences M_{i}-> X of Riemannian manifolds with curvature bounded or bounded away from a controlled subset. We introduce a structure over X which in an appropriate sense is dual to the N-structure of…

Let (M, g) be an (n+1) dimensional space-time, with bounded curvature with respect to a bounded framing. If (M, g) is vacuum or satisfies a mild condition on the stress-energy tensor, then we show that (M, g) locally admits coordinate…

In this article, we first show that for all compact Riemannian manifolds with non-empty smooth boundary and dimension at least 3, there exists a metric, pointwise conformal to the original metric, with constant scalar curvature in the…

This paper studies (single-time and multitime) optimal control problems on a nonholonomic manifold (described either by the kernel of a Gibbs-Pfaff form or by the span of appropriate vector fields). For both descriptions we analyse:…

To any metric spaces there is an associated metric profile. The rectifiability of the metric profile gives a good notion of curvature of a sub-Riemannian space. We shall say that a curvature class is the rectifiability class of the metric…

We prove that if a family of metrics, $g_i$, on a compact Riemannian manifold, $M^n$, have a uniform lower Ricci curvature bound and converge to $g_\infty$ smoothly away from a singular set, $S$, with Hausdorff measure, $H^{n-1}(S) = 0$,…

Let $(M,g_0)$ be a closed Riemannian manifold of dimension $n \geq 25$ with positive Yamabe invariant $Y(M,g_0)>0$ and positive fourth-order invariant $Y_4(M,g_0)>0$. We show that, arbitrarily $C^1$-close to $g_0$, there exists a Riemannian…

We study well-posedness, stabilization and control problems involving freely vibrating beams that may undergo motions of large magnitude -- i.e. large displacements of the reference line and large rotations of the cross sections. Such…

In this work, we study several inequalities related to a Dirichlet problem on Riemannian manifolds whose Ricci curvature is bounded from below. First, we establish inequalities involving the torsional rigidity and discuss rigidity results…

Positive curvature and bosons Compact positive curvature Riemannian manifolds M with symmetry group G allow Conner-Kobayashi reductions M to N, where N is the fixed point set of the symmetry G. The set N is a union of smaller-dimensional…

In this paper, we consider the wave equation with both a viscous Kelvin-Voigt and frictional damping as a model of viscoelasticity in which we incorporate an internal control with a moving support. We prove the null controllability when the…

We prove the following result: Let $(M,g_0)$ be a complete noncompact manifold of dimension $n\geq 12$ with isotropic curvature bounded below by a positive constant, with scalar curvature bounded above, and with injectivity radius bounded…

A rigidity result for a class of compact generalized quasi-Einstein manifolds with constant scalar curvature is obtained. Moreover, under some geometric assumptions, the rigidity for the noncompact case is also proved. Considering non…

This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…

In this paper, we intend to present some already known results about the internal controllability of the linear and nonlinear Schr\"odinger equation. After presenting the basic properties of the equation, we give a self contained proof of…

Following the unified approach of A. Kriegl and P.W. Michor (1997) for a treatment of global analysis on a class of locally convex spaces known as convenient, we give a generalization of Rashevsky-Chow's theorem for control systems in…

A control system $\dot{q} = f(q,u)$ is said to be trivializable if there exists local coordinates in which the system is feedback equivalent to a control system of the form $\dot{q} = f(u)$. In this paper we characterize trivializable…

We study the controllability of the Bloch equation, for an ensemble of non interacting half-spins, in a static magnetic field, with dispersion in the Larmor frequency. This system may be seen as a prototype for infinite dimensional bilinear…

We introduce and study the notion of null manifold. This is a smooth manifold ${\mathcal N}$ endowed with a degenerate metric $\gamma$ with one-dimensional radical at every point. We also define the notion of ruled null manifold, which is a…