Related papers: Constrained Stabilization on the n-Sphere
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…
We consider the problem of constrained motion along a conic path under a given external potential function. The model is described as a second-class system capturing the behavior of a certain class of specific quantum field theories. By…
We consider the problem of two interacting particles on a sphere. The potential of the interaction depends on the distance between the particles. The case of Newtonian-type potentials is studied in most detail. We reduce this system to a…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Matrix Factorization plays an important role in machine learning such as Non-negative Matrix Factorization, Principal Component Analysis, Dictionary Learning, etc. However, most of the studies aim to minimize the loss by measuring the…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
We consider a matrix model depending on a parameter $\lambda$ which permits the fuzzy sphere as a classical background.By expanding the bosonic matrices around this background ones recovers a U(1) (U(n)) noncommutative gauge theory on the…
We consider the problem of a sphere rolling of a curved surface and solve it by mapping it to the precession of a spin 1/2 in a magnetic field of variable magnitude and direction. The mapping can be of pedagogical use in discussing both…
Immersion and Invariance is a technique for the design of stabilizing and adaptive controllers and state observers for nonlinear systems. In all these applications the problem considered is the stabilization of equilibrium points. Motivated…
We consider the unrestricted problem of two mutually attracting rigid bodies, an uniform sphere (or a point mass) and an axially symmetric body. We present a global, geometric approach for finding all relative equilibria (stationary…
In this paper, a surface geometric constraint approach is used in designing the orbits of a solar sail. We solve the solar sail equation of motion by obtaining a generalized Laplace-Runge-Lenz (LRL) vector with the assumption that the cone…
We consider the motion of n point particles of positive masses that interact gravitationally on the 2-dimensional hyperbolic sphere, which has negative constant Gaussian curvature. Using the stereographic projection, we derive the equations…
We consider algorithms that, from an arbitrarily sampling of $N$ spheres (possibly overlapping), find a close packed configuration without overlapping. These problems can be formulated as minimization problems with non-convex constraints.…
It is one of the most important facts in 4-dimensional topology that not every spherical homology class of a 4-manifold can be represented by an embedded sphere. In 1978, M. Freedman and R. Kirby showed that in the simply connected case,…
A novel approach is presented to recover an image degraded by atmospheric turbulence. Given a sequence of frames affected by turbulence, we construct a variational model to characterize the static image. The optimization problem is solved…
We present a general numerical approach to shape optimization with state constraints for 2-dimensional geometries, without relaxing the constraints. To do this we reformulate the problem on a fixed reference domain using a conformal…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
Let S be a triangulated 2-sphere with fixed triangulation T. We apply the methods of thin position from knot theory to obtain a simple version of the three geodesics theorem for the 2-sphere [5]. In general these three geodesics may be…
We give a description of numerical Newton algorithm on a constraint manifold using only the ambient coordinates (usually Euclidean coordinates) and the geometry of the constraint manifold. We apply the numerical Newton algorithm on a sphere…