Related papers: On homotopy continuation based singularity distanc…
Many applications using large datasets require efficient methods for minimizing a proximable convex function subject to satisfying a set of linear constraints within a specified tolerance. For this task, we present a proximal projection…
Discretizing variational principles, as opposed to discretizing differential equations, leads to discrete-time analogues of mechanics, and, systematically, to geometric numerical integrators. The phase space of such variational…
Pseudo-arclength continuation is a well-established method for generating a numerical curve approximating the solution of an underdetermined system of nonlinear equations. It is an inherently sequential predictor-corrector method in which…
We study the de Rham complex of relative differential forms on compact manifolds with boundary. Chain homotopies for this complex are highly non-unique, and different homotopies can have different analytic properties, particularly near the…
The complete classification of hexapods - also known as Stewart Gough platforms - of mobility one is still open. To tackle this problem, we can associate to each hexapod of mobility one an algebraic curve, called the configuration curve. In…
Distance Geometry Problem (DGP) and Nonlinear Mapping (NLM) are two well established questions: Distance Geometry Problem is about finding a Euclidean realization of an incomplete set of distances in a Euclidean space, whereas Nonlinear…
We demonstrate the remarkable effectiveness of boundary value formulations coupled to numerical continuation for the computation of stable and unstable manifolds in systems of ordinary differential equations. Specifically, we consider the…
We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…
In this paper, a proximal augmented Lagrangian homotopy (PAL-Hom) method for solving convex quadratic programming problems is proposed. This method takes the proximal augmented Lagrangian method as the outer iteration. To solve the proximal…
Coupled partial differential equations defined on domains with different dimensionality are usually called mixed dimensional PDEs. We address mixed dimensional PDEs on three-dimensional (3D) and one-dimensional domains, giving rise to a…
We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
An approximate homotopy symmetry method for nonlinear problems is proposed and applied to the six-order boussinesq equation. We summarize the general formulas for similarity reduction solutions and similarity reduction equations of…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
In this article, we provide new structural results and algorithms for the Homotopy Height problem. In broad terms, this problem quantifies how much a curve on a surface needs to be stretched to sweep continuously between two positions. More…
We describe a $O(\log n )$-approximation algorithm for computing the homotopic \Frechet distance between two polygonal curves that lie on the boundary of a triangulated topological disk. Prior to this work, algorithms were known only for…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
A procedure for the numerical approximation of high-dimensional Hamilton-Jacobi-Bellman (HJB) equations associated to optimal feedback control problems for semilinear parabolic equations is proposed. Its main ingredients are a…
We develop the Littlewood-Richardson homotopy algorithm, which uses numerical continuation to compute solutions to Schubert problems on Grassmannians and is based on the geometric Littlewood-Richardson rule. One key ingredient of this…
The Gromov-Hausdorff distance provides a metric on the set of isometry classes of compact metric spaces. Unfortunately, computing this metric directly is believed to be computationally intractable. Motivated by applications in shape…