Related papers: Connecting planar linear chains in the spatial $N$…
Assembly planning is a fundamental problem in robotics and automation, which involves designing a sequence of motions to bring the separate constituent parts of a product into their final placement in the product. Assembly planning is…
In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…
We discuss a basis set developed to calculate perturbation coefficients in an expansion of the general N-body problem. This basis has two advantages. First, the basis is complete order-by-order for the perturbation series. Second, the…
We present 1349 families of Newtonian periodic planar three-body orbits with unequal mass and zero angular momentum and the initial conditions in case of isosceles collinear configurations. These 1349 families of the periodic collisionless…
The aim of this paper is to numerically investigate the orbital dynamics of the circular planar restricted problem of five bodies. By numerically integrating several large sets of initial conditions of orbits we classify them into three…
Considering an environment containing polygonal obstacles, we address the problem of planning motions for a pair of planar robots connected to one another via a cable of limited length. Much like prior problems with a single robot connected…
The planar $(n+1)$-body problem models the motion of $n+1$ bodies in the plane under their mutual Newtonian gravitational attraction forces. When $n\ge 3$, the question about final motions, that is, what are the possible limit motions in…
Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require…
We consider a symmetric five-body problem with three unequal collinear masses on the axis of symmetry. The remaining two masses are symmetrically placed on both sides of the axis of symmetry. Regions of possible central configurations are…
We use Dirac's constraint dynamics to obtain a Hamiltonian formulation of the relativistic N-body problem in a separable two-body basis in which the particles interact pair-wise through scalar and vector interactions. The resultant N-body…
We consider the NP-complete problem of tracking paths in a graph, first introduced by Banik et. al. [3]. Given an undirected graph with a source $s$ and a destination $t$, find the smallest subset of vertices whose intersection with any…
We prove the existence of relative periodic solutions of the planar $N=\sum_{j=1}^n k_j$-body problem starting with $n$ bodies moving close to a non-degenerate central configuration and replacing each of them with clusters of $k_j$ bodies…
Two numerical algorithms for analyzing planar central and balanced configurations in the $(n+1)$-body problem with a small mass are presented. The first one relies on a direct solution method of the $(n+1)$-body problem by using a…
We introduce a circular restricted charged three-body problem on the plane. In this model, the gravitational and Coulomb forces, due to the primary bodies, act on a test particle; the net force exerted by some primary body on the test…
We report on numerical calculations of Morse index for figure-eight choreographic solutions to a system of three identical bodies in a plane interacting through homogeneous potential, $-1/r^a$, or through Lennard-Jones-type (LJ) potential,…
We report on figure-eight choreographic solutions to a system of three identical particles interacting through a potential of Lennard-Jones type, $1/r^{12}-1/r^6$ where $r$ is a distance between the particles. By numerical search, we found…
We present a data structure that can maintain a simple planar graph under edge contractions in linear total time. The data structure supports adjacency queries and provides access to neighbor lists in $O(1)$ time. Moreover, it can report…
A stochastic optimization algorithm for analyzing planar central and balanced configurations in the $n$-body problem is presented. We find a comprehensive list of equal mass central configurations satisfying the Morse equality up to $n=12$.…
We consider the Newtonian planar three-body problem, defining a syzygy (velocity syzygy) as a configuration where the positions (velocities) of the three bodies become collinear. We demonstrate that if the total energy is negative, every…
The (axis-parallel) stabbing number of a given set of line segments is the maximum number of segments that can be intersected by any one (axis-parallel) line. This paper deals with finding perfect matchings, spanning trees, or…