Related papers: Weak Rigidity Theory and its Application to Multi-…
The global steady state of a system in thermal equilibrium exponentially favors configurations with lesser energy. This principle is a powerful explanation of self-organization because energy is a local property of a configuration. For…
This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that…
Stabilization of graphs has received substantial attention in recent years due to its connection to game theory. Stable graphs are exactly the graphs inducing a matching game with non-empty core. They are also the graphs that induce a…
Network formation theory studies how agents create and maintain relationships, and the stability of those relationships with respect to individual incentives. A central stability concept in this literature is pairwise stability, introduced…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
Global Navigation Satellite Systems (GNSS) are a widely used technology for positioning and navigation. GNSS positioning relies on pseudorange measurements from satellites to receivers. A pseudorange is the apparent distance between two…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…
In this paper, we propose a model-simulation framework for virtual tensile strength tests of random fiber structures, as they appear in nonwoven materials. The focus is on the efficient handling with respect to the problem-inherent…
We study the problem of distance-based formation shape control for autonomous agents with double-integrator dynamics. Our considerations are focused on exponential stability properties. For second-order formation systems under the standard…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…
In this paper we introduce a variational model for the study of multilayer films that allows for the treatment of both coherent and incoherent interfaces between layers. The model is designed in the framework of the theory of Stress Driven…
In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the…
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applications. In our previous work, we theoretically analyzed…
There is tremendous potential in using neural networks to optimize numerical methods. In this paper, we introduce and analyse a framework for the neural optimization of discrete weak formulations, suitable for finite element methods. The…
This work focuses on the bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-units bearings when exposed to deformations. The original…
This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol…
In this paper, we study two applications of graph minor reduction. In the first part of the paper, we introduce a variant of the boxicity, called strong boxicity, where the rectangular representation satisfies an additional condition that…
A rigidity theory is developed for frameworks in a metric space with two types of distance constraints. Mixed sparsity graph characterisations are obtained for the infinitesimal and continuous rigidity of completely regular bar-joint…
Deep learning models, such as wide neural networks, can be conceptualized as nonlinear dynamical physical systems characterized by a multitude of interacting degrees of freedom. Such systems in the infinite limit, tend to exhibit simplified…
Weak Wave Turbulence is a powerful theory to predict statistical observables of diverse relevant physical phenomena, such as ocean waves, magnetohydrodynamics and nonlinear optics. The theory is based upon an asymptotic closure permitted in…