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We consider the problem of optimal path planning on a manifold which is the image of a smooth function. Optimal path-planning is of crucial importance for motion planning, image processing, and statistical data analysis. In this work, we…

This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…

This work presents methods for the seamless execution of arbitrary spherical trajectories with a seven-degree-of-freedom robotic arm as a sample holder. The sample holder is integrated into an existing X-ray computed tomography setup. We…

We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…

We construct Hamiltonian dynamics of the generalized spherically symmetric gravitational model in extended phase space. We start from the Faddeev - Popov effective action with gauge-fixing and ghost terms, making use of gauge conditions in…

Due to nonholonomic dynamics, the motion planning of nonholonomic robots is always a difficult problem. This letter presents a Discrete States-based Trajectory Planning(DSTP) algorithm for autonomous nonholonomic robots. The proposed…

This paper proposes a framework for scheduling the observation and download tasks of multiple agile satellites with practical considerations such as attitude transition time, onboard data capacity, and stereoscopic image acquisition. A…

Magnetic Skyrmions belong to the most interesting spin structures for the development of future information technology as they have been predicted to be topologically protected. To quantify their stability, we use an innovative multiscale…

Mode division multiplexing (MDM) is mooted as a technology to address future bandwidth issues, and has been successfully demonstrated in free space using spatial modes with orbital angular momentum (OAM). To further increase the data…

Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…

Inspired by the Boltzmann kinetics, we propose a collision-based dynamics with a Monte Carlo solution algorithm that approximates the solution of the multi-marginal optimal transport problem via randomized pairwise swapping of sample…

The polyhedral model allows a structured way of defining semantics-preserving transformations to improve the performance of a large class of loops. Finding profitable points in this space is a hard problem which is usually approached by…

Mechanical metamaterials utilize geometry to achieve exceptional mechanical properties, including those not typically possible for traditional materials. To achieve these properties, it is necessary to identify the proper structures and…

Multivariate geostatistical simulation requires the faithful reproduction of complex non-linear dependencies among geological variables, including bimodal distributions, step functions, and heteroscedastic relationships. Traditional methods…

This paper introduces generalized Bregman projection algorithms for solving nonlinear split feasibility problems (SF P s) in infinitedimensional Hilbert spaces. The methods integrate Bregman projections, proximal gradient steps, and…

The recently proposed Broximal Point Method (BPM) [Gruntkowska et al., 2025] offers an idealized optimization framework based on iteratively minimizing the objective function over norm balls centered at the current iterate. It enjoys…

Nonlinear stochastic motion presents significant challenges for Bayesian particle tracking. To address this challenge, this paper proposes a framework to construct an invertible transformation that maps the nonlinear state-space model (SSM)…

This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and…

We describe a highly robust method, applicable to both electromagnetic and matter-wave beams, that can produce a beam consisting of a lattice of orbital angular momentum (OAM) states coupled to a two-level system. We also define efficient…

This paper presents a sampling-based motion planning algorithm for real-time and propellant-optimized autonomous spacecraft trajectory generation in near-circular orbits. Specifically, this paper leverages recent algorithmic advances in the…