Related papers: Variational point-obstacle avoidance on Riemannian…
Motivated by applications in computational anatomy, we consider a second-order problem in the calculus of variations on object manifolds that are acted upon by Lie groups of smooth invertible transformations. This problem leads to solution…
We investigate a generalization of cubic splines to Riemannian manifolds. Spline curves are defined as minimizers of the spline energy - a combination of the Riemannian path energy and the time integral of the squared covariant derivative…
We consider optimization problems on manifolds with equality and inequality constraints. A large body of work treats constrained optimization in Euclidean spaces. In this work, we consider extensions of existing algorithms from the…
Robotic motion optimization often focuses on task-specific solutions, overlooking fundamental motion principles. Building on Riemannian geometry and the calculus of variations (often appearing as indirect methods of optimal control), we…
Existence of stationary solutions to a nonlocal fourth-order elliptic obstacle problem arising from the modelling of microelectromechanical systems with heterogeneous dielectric properties is shown. The underlying variational structure of…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
We establish new existence and non-existence results for positive solutions of the Einstein-scalar field Lichnerowicz equation on compact manifolds. This equation arises from the Hamiltonian constraint equation for the Einstein-scalar field…
We consider minimizing a nonconvex, smooth function $f$ on a Riemannian manifold $\mathcal{M}$. We show that a perturbed version of Riemannian gradient descent algorithm converges to a second-order stationary point (and hence is able to…
The aim of this paper is to adapt the general multitime maximum principle to a Riemannian setting. More precisely, we intend to study geometric optimal control problems constrained by the metric compatibility evolution PDE system; the…
We study variational problems for integral invariants, which are defined as integrations of invariant functions of the second fundamental form, of a smooth map between pseudo-Riemannian manifolds. We derive the first variational formulae…
We obtain a dynamical--topological obstruction for the existence of isometric embedding of a Riemannian manifold-with-boundary $(M,g)$: if the first real homology of $M$ is nontrivial, if the centre of the fundamental group is trivial, and…
This paper considers a stochastic optimization problem over the fixed point sets of quasinonexpansive mappings on Riemannian manifolds. The problem enables us to consider Riemannian hierarchical optimization problems over complicated sets,…
The present contribution investigates shape optimisation problems for a class of semilinear elliptic variational inequalities with Neumann boundary conditions. Sensitivity estimates and material derivatives are firstly derived in an…
Systems of ordinary differential equations (or dynamical forms in Lagrangian mechanics), induced by embeddings of smooth fibered manifolds over one-dimensional basis, are considered in the class of variational equations. For a given…
In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new…
In this paper, we present a novel method for using Riemannian Motion Policies on volumetric maps, shown in the example of obstacle avoidance for Micro Aerial Vehicles (MAVs). While sampling or optimization-based planners are widely used for…
This paper presents a variational and multisymplectic formulation of both compressible and incompressible models of continuum mechanics on general Riemannian manifolds. A general formalism is developed for non-relativistic first-order…
In this paper, we consider a class of nonconvex-linear minimax problems on Riemannian manifolds, which find wide applications in machine learning and signal processing. For solving this class of problems, we develop a flexible Riemannian…
In this paper, we study, from both variational and numerical points of view, a dynamic contact problem between a viscoelastic-viscoplastic piezoelectric body and a deformable obstacle. The contact is modelled using the classical normal…
Given a smooth Riemannian manifold $(M,g)$, compact and without boundary, we analyze the dynamical optimal mass transport problem where the cost is given by the sum of the kinetic energy and the relative entropy with respect to a reference…