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Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
A new method, the Dynamical Systems Method (DSM), justified recently, is applied to solving ill-conditioned linear algebraic system (ICLAS). The DSM gives a new approach to solving a wide class of ill-posed problems. In this paper a new…
In this work, we present an efficient method for computing in the generalized Jacobian of special singular curves, nodal curves. The efficiency of the operation is due to the representation of an element in the Jacobian group by a single…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
In this paper, we introduce and study a class of resolvent dynamical systems to investigate some inertial proximal methods for solving mixed variational inequalities. These proposed methods along with their discretizations and derived rates…
Classical knot theory deals with {\em diagrams} and {\em invariants}. By means of horizontal {\em trisecants}, we construct a new theory of classical braids with invariants valued in {\em pictures}. These pictures are closely related to…
Finding constrained saddle points on Riemannian manifolds is significant for analyzing energy landscapes arising in physics and chemistry. Existing works have been limited to special manifolds that admit global regular level-set…
We extend the notions of nonautonomous dynamics to arbitrary groups, through groupoid morphisms. This also presents a generalization of classic dynamical systems and group actions. We introduce the structure of cotranslations, as a specific…
The structural invariant subspaces of the discrete-time singular Hamiltonian system are used in 1] to give an analytic nonrecursive expression of all the admissible trajectories. A deeper insight into the features of these subspaces,…
A categorical theory for the discretization of a large class of dynamical systems with variable coefficients is proposed. It is based on the existence of covariant functors between the Rota category of Galois differential algebras and…
We study random dynamical systems on the real line, considering each dynamical system together with the one generated by the inverse maps. We show that there is a duality between forward and inverse behaviour for such systems, splitting…
In this paper, we develop a class of robust numerical methods for solving dynamical systems with multiple time scales. We first represent the solution of a multiscale dynamical system as a transformation of a slowly varying solution. Then,…
Hybrid dynamical systems have proven to be a powerful modeling abstraction, yet fundamental questions regarding the dynamical properties of these systems remain. In this paper, we develop a novel class of relaxations which we use to recover…
We present a construction of new invariant sets for fibred polynomial dynamics with base an irrational rotation over the unit circle, called multi-curves. Furthermore, the local dynamical theory for attracting invariant curves is extended…
The gauge symmetries of a general dynamical system can be systematically obtained following either a Hamiltonean or a Lagrangean approach. In the former case, these symmetries are generated, according to Dirac's conjecture, by the first…
This paper is devoted to Riemann-Hilbert problems with constraints. We obtain results characterizing the existence of solutions as well as the dimension of the solution space in terms of certain indices. As an application, we show how such…
Principal curves are natural generalizations of principal lines arising as first principal components in the Principal Component Analysis. They can be characterized from a stochastic point of view as so-called self-consistent curves based…
Analytical solutions to the chaotic and ergodic motion of a certain class of one-dimensional dissipative and discrete dynamical systems are derived. This allows us to obtain exact expressions for physical properties like the time…
We analyze constrained quantum systems where the dynamics do not preserve the constraints. This is done in particular for the restriction of a quantum particle in Euclidean n-space to a curved submanifold, and we propose a method of…
The semiclassical solution of quantum Dirac constraints in generic constrained system is obtained by directly calculating in the one-loop approximation the gauge field path integral with relativistic gauge fixing procedure. The gauge…