Related papers: Bearing Rigidity and Almost Global Bearing-Only Fo…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
We study stochastic Burgers turbulence without pressure. We first show that the variational derivative of the Burgers equation is dependent on the velocity field, suggesting the existence of an anomaly. The anomaly is created by an operator…
This work comprises a detailed theoretical and computational study of the boundary value problem for transversely isotropic linear elastic bodies. General conditions for well-posedness are derived in terms of the material parameters. The…
In solving the problem of asymptotic tracking and disturbance rejection, it has been long always assumed that the reference to be tracked and the disturbance to be rejected must be generated by an exosystem such as a finite dimensional…
In geophysics, inverse modelling can be applied to a wide range of goals, including, for instance, mapping the distribution of rock physical parameters in applied geophysics and calibrating models to forecast the behaviour of natural…
We study a multiscale stochastic optimal control problem subject to state constraints on the slow variable. To address this class of problems, we develop a rigorous theoretical framework based on singular perturbation analysis, tailored to…
Uncertainty estimation in machine learning has traditionally focused on the prediction stage, aiming to quantify confidence in model outputs while treating learned representations as deterministic and reliable by default. In this work, we…
In wire bearings the rolling process occurs on raceways machined on steel wires, and the rings are made of light materials such as aluminium. This particular architecture provides both weight and inertia savings, but also significantly…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
This work considers the distance constrained formation control problem with an additional constraint requiring that the formation exhibits a specified spatial symmetry. We employ recent results from the theory of symmetry-forced rigidity to…
We analyse the role of the bang-bang property in affine optimal control problems. We show that many essential stability properties of affine problems are only satisfied when minimizers are bang-bang. Moreover, we prove that almost any…
We give a combinatorial characterization of generic minimally rigid reflection frameworks. The main new idea is to study a pair of direction networks on the same graph such that one admits faithful realizations and the other has only…
In the context of elasticity theory, rigidity theorems allow to derive global properties of a deformation from local ones. This paper presents a new asymptotic version of rigidity, applicable to elastic bodies with sufficiently stiff…
A first-order gauge invariant formulation for the two-dimensional quantum rigid rotor is long known in the theoretical physics community as an isolated peculiar model. Parallel to that fact, the longstanding constraints abelianization…
Mechanical instabilities can be exploited to design innovative structures, able to change their shape in the presence of external stimuli. In this work, we derive a mathematical model of an elastic beam subjected to an axial force and…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
Conformal boundary conditions in two-dimensional conformal field theories are still mostly an uncharted territory. Even less is known about the relevant boundary deformations that connect them. A natural approach to the problem is via…
Algorithmic stability is a key characteristic to ensure the generalization ability of a learning algorithm. Among different notions of stability, \emph{uniform stability} is arguably the most popular one, which yields exponential…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…