Related papers: Avoiding collisions under topological constraints …
We study the existence of non-collision periodic solutions with Newtonian potentials for the following planar restricted 4-body problems: Assume that the given positive masses $m_{1},m_{2},m_{3}$ in a Lagrange configuration move in circular…
We consider the $N$-body problem in $\mathbb{R}^d$ with the newtonian potential $1/r$. We prove that for every initial configuration $x_i$ and for every minimizing normalized central configuration $x_0$, there exists a collision-free…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
We study a class of semilinear free boundary problems in which admissible functions $u$ have a topological constraint, or spanning condition, on their 1-level set. This constraint forces $\{u=1\}$, which is the free boundary, to behave like…
A triangulated piecewise-linear minimal surface in Euclidean 3-space defined using a variational characterization is critical for area amongst all continuous piecewise-linear variations with compact support that preserve the simplicial…
This paper is devoted to variational problems on the set of probability measures which involve optimal transport between unequal dimensional spaces. In particular, we study the minimization of a functional consisting of the sum of a term…
In this paper we prove the uniqueness and radial symmetry of minimizers for variational problems that model several phenomena. The uniqueness is a consequence of the convexity of the functional. The main technique is Fourier transform of…
Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
The family of planar linear chains are found as collision-free action minimizers of the spatial $N$-body problem with equal masses under $D_N$ or $D_N \times \zz_2$-symmetry constraint and different types of topological constraints. This…
We show that the support of any local minimizer of the interaction energy consists of isolated points whenever the interaction potential is of class $C^2$ and mildly repulsive at the origin; moreover, if the minimizer is global, then its…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
The existence of compactly supported global minimisers for continuum models of particles interacting through a potential is shown under almost optimal hypotheses. The main assumption on the potential is that it is catastrophic, or not…
In this article, the minimum time control problem of an electric vehicle is modeled as a Mayer problem in optimal control, with affine dynamics with respect to the control and with state constraints. The candidates as minimizers are…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
In this paper, we prove the existence of minimizers of a class of multi-constrained variational problems. We consider systems involving a nonlinearity that does not satisfy compactness, monotonicity, neither symmetry properties. Our…
The problem of the description of two interacting particles is considered. It is shown that it can be reduced to the description of one particle in an external static potential even in a relativistic case. The method is based on the…
Restrictions are obtained on the topology of a compact divergence-free null hypersurface in a four-dimensional Lorentzian manifold whose Ricci tensor is zero or satisfies some weaker conditions. This is done by showing that each null…
In non-minimal Higgs mechanisms, one often needs to minimize highly symmetric Higgs potentials. Here we propose a geometric way of doing it, which, surprisingly, is often much more efficient than the usual method. By construction, it gives…
The main thrust of our current work is to exploit very specific characteristics of a given problem in order to acquire improved compactness for supercritical problems and to prove existence of new types of solutions. To this end, we shall…