Related papers: Bregman dynamics, contact transformations and conv…
This manuscript introduces novel approaches to three phenomena. First, we extend the algebraic formulation of kinetic theory within the contact framework by making explicit the gauge freedom, thereby obtaining a formulation in which the…
Several dynamical systems of interest in celestial mechanics can be written in the form of a Newton equation with time-dependent damping, linear in the velocities. For instance, the modified Kepler problem, the spin-orbit model and the…
Many large-scale and distributed optimization problems can be brought into a composite form in which the objective function is given by the sum of a smooth term and a nonsmooth regularizer. Such problems can be solved via a proximal…
In the past few years, following the differentiable programming paradigm, there has been a growing interest in computing the gradient information of physical processes (e.g., physical simulation, image rendering). However, such processes…
Hybrid dynamical systems are systems which undergo both continuous and discrete transitions. The Bolza problem from optimal control theory was applied to these systems and a hybrid version of Pontryagin's maximum principle was presented.…
We consider model order reduction of parameterized Hamiltonian systems describing nondissipative phenomena, like wave-type and transport dominated problems. The development of reduced basis methods for such models is challenged by two main…
Contact geometry allows to describe some thermodynamic and dissipative systems. In this paper we introduce a new geometric structure in order to describe time-dependent contact systems: cocontact manifolds. Within this setting we develop…
We develop a reduced-order framework for optimizing mixing in two-dimensional incompressible flows. Instead of optimizing the full transport PDE, the method maximizes the length of advected material interfaces, leading to a…
A general framework for the numerical approximation of evolution problems is presented that allows to preserve exactly an underlying Hamiltonian- or gradient structure. The approach relies on rewriting the evolution problem in a particular…
We develop a novel framework to study smooth and strongly convex optimization algorithms, both deterministic and stochastic. Focusing on quadratic functions we are able to examine optimization algorithms as a recursive application of linear…
This work presents a geometric formulation for transforming nonconservative mechanical Hamiltonian systems and introduces a new method for regularizing and linearizing central force dynamics -- in particular, Kepler and Manev dynamics --…
In this paper, we present a discretization algorithm for finite horizon risk constrained dynamic programming algorithm in [Chow_Pavone_13]. Although in a theoretical standpoint, Bellman's recursion provides a systematic way to find optimal…
In this article we develop a theory of contact systems with nonholonomic constraints. We obtain the dynamics from Herglotz's variational principle, by restricting the variations so that they satisfy the nonholonomic constraints. We prove…
Differential Dynamic Programming is an optimal control technique often used for trajectory generation. Many variations of this algorithm have been developed in the literature, including algorithms for stochastic dynamics or state and input…
Motivated by a constrained minimization problem, it is studied the gradient flows with respect to Hessian Riemannian metrics induced by convex functions of Legendre type. The first result characterizes Hessian Riemannian structures on…
We prove that deterministic motion in dissipative systems emerges as a strict geometric attractor of contact flow, not a statistical approximation. Building on the contact geometry of stochastic vector bundles, we develop time-dependent…
We introduce an iterative method to search for time-optimal Hamiltonians that drive a quantum system between two arbitrary, and in general mixed, quantum states. The method is based on the idea of progressively improving the efficiency of…
In this note, we consider port-Hamiltonian structures in numerical optimal control of ordinary differential equations. By introducing a novel class of nonlinear monotone port-Hamiltonian (pH) systems, we show that the primal-dual gradient…
In this paper, we propose a discrete Hamilton--Jacobi theory for (discrete) Hamiltonian dynamics defined on a (discrete) contact manifold. To this end, we first provide a novel geometric Hamilton--Jacobi theory for continuous contact…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…