Related papers: Weak Rigidity Theory and its Application to Multi-…
Dimensionality effects pose major challenges in high-dimensional and non-Euclidean data analysis. Graph-based two-sample tests and change-point detection are particularly attractive in this context, as they make minimal distributional…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
The equations of a planar elastica under pressure can be rewritten in a useful form by parametrising the variables in terms of the local orientation angle, $\theta$, instead of the arc length. This ``$\theta$-formulation'' lends itself to a…
A rigidity theory is developed for bar-joint frameworks in $\mathbb{R}^{d+1}$ whose vertices are constrained to lie on concentric $d$-spheres with independently variable radii. In particular, combinatorial characterisations are established…
We consider a basic model of a dynamical distribution network, modeled as a directed graph with storage variables corresponding to every vertex and flow inputs corresponding to every edge, subject to unknown but constant inflows and…
Motivated by constraint-based CAD software, we develop the foundation for the rigidity theory of a very general model: the body-and-cad structure, composed of rigid bodies in 3D constrained by pairwise coincidence, angular and distance…
This paper presents the analysis of the stability properties of PID controllers for dynamical systems with multiple state delays, focusing on the mathematical characterization of the potential sensitivity of stability with respect to…
For plane frameworks with reflection or rotational symmetries, where the group action is not necessarily free on the vertex set, we introduce a phase-symmetric orbit rigidity matrix for each irreducible representation of the group. We then…
An experimental method has been developed to locate unstable equilibria of nonlinear structures quasi-statically. The technique involves loading a structure by application of either a force or a displacement at a main actuation point, while…
A graph theoretic framework recently has been proposed to stabilize interconnected multiagent systems in a distributed fashion, while systematically capturing the architectural aspect of cyber-physical systems with separate agent or…
Galilean invariance is a cornerstone of classical mechanics. It states that for closed systems the equations of motion of the microscopic degrees of freedom do not change under Galilean transformations to different inertial frames. However,…
This paper presents a non-linear stability analysis for dc-microgrids in both, interconnected mode and island operation with primary control. The proposed analysis is based on the fact that the dynamical model of the grid is a gradient…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Geometric pattern formation is an important emergent behavior in many applications involving large-scale multi-agent systems, such as sensor networks deployment and collective transportation. Attraction/repulsion virtual forces are the most…
Robust control seeks stabilizing policies that perform reliably under adversarial disturbances, with $\mathcal{H}_\infty$ control as a classical formulation. It is known that policy optimization of robust $\mathcal{H}_\infty$ control…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
We use a minimal model for a dense suspension undergoing thickening and thinning to investigate microstructural changes in 2d simulations. Our simulations show that in steady flow the contact network contains distinct building blocks which…
This paper makes the following original contributions. First, we develop a unifying framework for testing shape restrictions based on the Wald principle. The test has asymptotic uniform size control and is uniformly consistent. Second, we…
This work proposes a novel distributed framework for verifying the incremental stability of large-scale systems with unknown dynamics and known interconnection structures using graph neural networks. Our proposed approach relies on the…
A variational model to simultaneously treat Stress-Driven Rearrangement Instabilities, such as boundary discontinuities, internal cracks, external filaments, edge delamination, wetting, and brittle fractures, is introduced. The model is…