Related papers: Variational obstacle avoidance problem on Riemanni…

Dynamic obstacle avoidance is a popular research topic for autonomous systems, such as micro aerial vehicles and service robots. Accurately evaluating the performance of dynamic obstacle avoidance methods necessitates the establishment of a…

We find a new obstruction for a real Einstein 4-orbifold with an A1-singularity to be a limit of smooth Einstein 4-manifolds. The obstruction is a curvature condition at the singular point. For asymptotically hyperbolic metrics, with…

Riemann-Hilbert problems are jump problems for holomorphic functions along given interfaces. They arise in various contexts, e.g. in the asymptotic study of certain nonlinear partial differential equations and in the asymptotic analysis of…

We consider Lie groups equipped with arbitrary distances. We only assume that the distance is left-invariant and induces the manifold topology. For brevity, we call such object metric Lie groups. Apart from Riemannian Lie groups,…

In this paper we study the obstacle problems for the Navier (spectral) fractional Laplacian $\left(-\Delta_\Omega\right)^{\!s}$ of order $s\in(0,1)$, in a bounded domain $\Omega\subset\mathbb R^n$.

In this paper, we define and study strong right-invariant sub-Riemannian structures on the group of diffeomorphisms of a manifold with bounded geometry. We derive the Hamiltonian geodesic equations for such structures, and we provide…

We consider a risk-averse optimal control problem governed by an elliptic variational inequality (VI) subject to random inputs. By deriving KKT-type optimality conditions for a penalised and smoothed problem and studying convergence of the…

We show that a wide range of overdetermined boundary problems for semilinear equations with position-dependent nonlinearities admits nontrivial solutions. The result holds true both on the Euclidean space and on compact Riemannian…

Time-optimal obstacle avoidance is a prevalent problem encountered in various fields, including robotics and autonomous vehicles, where the task involves determining a path for a moving vehicle to reach its goal while navigating around…

The aim of this work is to study, from an intrinsic and geometric point of view, second-order constrained variational problems on Lie algebroids, that is, optimization problems defined by a cost functional which depends on higher-order…

This article deals with the variable coefficient thin obstacle problem in $n+1$ dimensions. We address the regular free boundary regularity, the behavior of the solution close to the free boundary and the optimal regularity of the solution…

Consider a compact Lie group $G$ and a closed Lie subgroup $H<G$. Let $\mathcal M$ be the set of $G$-invariant Riemannian metrics on the homogeneous space $M=G/H$. By studying variational properties of the scalar curvature functional on…

We consider scattering theory of the Laplace Beltrami operator on differential forms on a Riemannian manifold that is Euclidean at infinity. The manifold may have several boundary components caused by obstacles at which relative boundary…

In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new…

Several important algorithms for machine learning and data analysis use pairwise distances as input. On Riemannian manifolds these distances may be prohibitively costly to compute, in particular for large datasets. To tackle this problem,…

This entry contains the core material of my habilitation thesis, soon to be officially submitted. It provides a self-contained presentation of the original results in this thesis, in addition to their detailed proofs. The motivation of…

We derive a continuum model for incompatible elasticity as a variational limit of a family of discrete nearest-neighbor elastic models. The discrete models are based on discretizations of a smooth Riemannian manifold $(M,\mathfrak{g})$,…

We consider the inverse problem of determining a compact Riemannian manifold with boundary from fixed time observations of the solution, restricted to a small subset in space, for the Navier-Stokes system with a local source on the…

Non-split almost complex supermanifolds and non-split Riemannian supermanifolds are studied. The first obstacle for a splitting is parametrized by group orbits on an infinite dimensional vector space. Further it is shown that non-split…

Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…