Related papers: Some Random Paths with Angle Constraints
We introduce an arbitrary order, computationally efficient method to smooth corners on curves in the plane, as well as edges and vertices on surfaces in $\mathbb R^3$. The method is local, only modifying the original surface in a…
In this article we present a unified way to smooth certain multiple structures called ropes on smooth varieties. We prove that most ropes of arbitrary multiplicity, supported on smooth curves can be smoothed. By a rope being smoothable we…
Path generation, the process of converting high-level mission specifications, such as sequences of waypoints from a path planner, into smooth, executable paths, is a fundamental challenge in mobile robotics. Most path following and…
We give some new explicit examples of putatively optimal projective spherical designs. i.e., ones for which there is numerical evidence that they are of minimal size. These form continuous families, and so have little apparent symmetry in…
For the simple Bratteli diagrams B where there is a single edge connecting any two vertices in consecutive levels, we show that a random order has uncountably many infinite paths if and only if the growth rate of the level-n vertex sets is…
In this paper we study random optimization problems where random functions are investigated in sample paths. Some sufficient conditions ensuring the existence of random solutions to random optimization problems are proposed.
For prime degree hypersurfaces of dimension at least 3, Mori asked if every smooth proper limit is still a hypersurface. Interestingly in dimensions 1 and 2, this is not the case. For example, Griffin constructed explicit families of…
Many real-world networks of interest are embedded in physical space. We present a new random graph model aiming to reflect the interplay between the geometries of the graph and of the underlying space. The model favors configurations with…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be very efficient in solving high dimensional problems. Even though…
A Dubins path is a shortest path with bounded curvature. The seminal result in non-holonomic motion planning is that (in the absence of obstacles) a Dubins path consists either from a circular arc followed by a segment followed by another…
We study symmetric random walks on finitely generated groups of orientation-preserving homeomorphisms of the real line. We establish an oscillation property for the induced Markov chain on the line that implies a weak form of recurrence.…
We construct a conformally invariant random family of closed curves in the plane by welding of random homeomorphisms of the unit circle given in terms of the exponential of Gaussian Free Field. We conjecture that our curves are locally…
We introduce a class of first-order methods for smooth constrained optimization that are based on an analogy to non-smooth dynamical systems. Two distinctive features of our approach are that (i) projections or optimizations over the entire…
The order in which plane-filling curves visit points in the plane can be exploited to design efficient algorithms. Typically, the curves are useful because they preserve locality: points that are close to each other along the curve tend to…
We construct in this article an explicit geometric rough path over arbitrary $d$-dimensional paths with finite $1/\alpha$-variation for any $\alpha\in(0,1)$. The method may be coined as 'Fourier normal ordering', since it consists in a…
The class of linear pentapods with a simple singularity variety is obtained by imposing architectural restrictions on the design in such a way that the manipulators singularity variety is linear in orientation position variables. It turns…
We develop the structure theory for transformations of weakly geometric rough paths of bounded $1 < p$-variation and their controlled paths. Our approach differs from existing approaches as it does not rely on smooth approximations. We…
A necessary and sufficient condition for a random walk in a finite directed graph subject to a road coloring to be measurable with respect to the driving random road colors is proved to be that the road coloring is synchronizing. For this,…
We introduce the class of "smooth rough paths" and study their main properties. Working in a smooth setting allows us to discard sewing arguments and focus on algebraic and geometric aspects. Specifically, a Maurer-Cartan perspective is the…
In this paper, we introduce a new probabilistically safe local steering primitive for sampling-based motion planning in complex high-dimensional configuration spaces. Our local steering procedure is based on a new notion of a convex…