Related papers: Avoiding collisions under topological constraints …
We prove several new results concerning action minimizing periodic orbits of Tonelli Lagrangian systems on an oriented closed surface $M$. More specifically, we show that for every energy larger than the maximal energy of a constant orbit…
Collision-free flight in cluttered environments is a critical capability for autonomous quadrotors. Traditional methods often rely on detailed 3D map construction, trajectory generation, and tracking. However, this cascade pipeline can…
The only known general base to eliminate the vacuum divergencies of quantized matter fields in quantum geometrodynamics is the fermion-boson supersymmetry. The topological effect of the closed Universe -- discretization of the vacuum…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…
We study a 3D ternary system derived as a sharp-interface limit of the Nakazawa-Ohta density functional theory of triblock copolymers, which combines an interface energy with a long range interaction term. Although both the binary case in…
Hamilton's equations with noise and friction possess a hidden supersymmetry, valid for time-independent as well as periodically time-dependent systems. It is used to derive topological properties of critical points and periodic trajectories…
In many resource-limited optimal control problems, multiple constraints may be enforced that are jointly infeasible due to external factors such as subsystem failures, unexpected disturbances, or fuel limitations. In this manuscript, we…
Coincidences of maps between smooth manifolds are studied via a geometric approach which involves (nonstabilized) normal bordism theory and pathspaces.
We give natural topological conditions on the support of the target measure under which solutions to the optimal transport problem with cost function satisfying the (weak) Ma, Trudinger, and Wang condition cannot have any isolated singular…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended…
Obtaining guarantees on the convergence of the minimizers of empirical risks to the ones of the true risk is a fundamental matter in statistical learning. Instead of deriving guarantees on the usual estimation error, the goal of this paper…
This paper presents a novel collision avoidance method for general ellipsoids based on control barrier functions (CBFs) and separating hyperplanes. First, collision-free conditions for general ellipsoids are analytically derived using the…
The magnetostatic field distribution in a nonlinear medium amounts to the unique minimizer of the magnetic coenergy over all fields that can be generated by the same current. This is a nonlinear saddlepoint problem whose numerical solution…
Using a completely analytic procedure - based on a suitable extension of a classical method - we discuss an approach to the Poincar\'e-Mel'nikov theory, which can be conveniently applied also to the case of non-hyperbolic critical points,…
A significant challenge in motion planning is to avoid being in or near \emph{singular configurations} (\textit{singularities}), that is, joint configurations that result in the loss of the ability to move in certain directions in task…
We present a combination technique based on mixed differences of both spatial approximations and quadrature formulae for the stochastic variables to solve efficiently a class of Optimal Control Problems (OCPs) constrained by random partial…
3+1 dimensional Causal Dynamical Triangulations (CDT) describe a quantum theory of fluctuating geometries without the introduction of a background geometry. If the topology of space is constrained to be that of a three-dimensional torus we…
In this work, we study the reduction by a Lie group of symmetries of variational collision avoidance probelms of multiple agents evolving on a Riemannian manifold and derive necessary conditions for the reduced extremals. The problem…