Related papers: Numerical Methods to Compute the Coriolis Matrix a…
Many energy-based control strategies for mechanical systems require the choice of a Coriolis factorization satisfying a skew-symmetry property. This paper (a) explores if and when a control designer has flexibility in this choice, (b)…
Traditional methods for solving physical equations in curved spaces, especially in fluid mechanics and general relativity, rely heavily on the use of Christoffel symbols. These symbols provide the necessary corrections to account for…
A new algorithm for numerical integration of the rigid-body equations of motion is proposed. The algorithm uses the leapfrog scheme and the quantities involved are angular velocities and orientational variables which can be expressed in…
Christoffel polynomials are classical tools from approximation theory. They can be used to estimate the (compact) support of a measure $\mu$ on $\mathbb{R}^d$ based on its low-degree moments. Recently, they have been applied to problems in…
We introduce Spiral, a third-order integration algorithm for the rotational motion of extended bodies. It requires only one force calculation per time step, does not require quaternion normalization at each time step, and can be formulated…
Optimization-based robot control strategies often rely on first-order dynamics approximation methods, as in iLQR. Using second-order approximations of the dynamics is expensive due to the costly second-order partial derivatives of the…
A model of computation that is widely used in the formal analysis of reactive systems is symbolic algorithms. In this model the access to the input graph is restricted to consist of symbolic operations, which are expensive in comparison to…
In this paper, we describe procedures for computing higher-order time derivatives of the Lie-group Newton-Euler, Articulated-Body Inertia, and hybrid dynamics algorithms for floating-base trees, where the base configuration evolves on SE(3)…
Stencil computations are widely used to simulate the change of state of physical systems across a multidimensional grid over multiple timesteps. The state-of-the-art techniques in this area fall into three groups: cache-aware tiled looping…
The use of vectorial parameterization to create geometrical representations in computational models has a large number of applications. One particular application is the calculation of the 3D rotational motion of rigid bodies, that could be…
The article presents a computationally effective algorithm for calculating the multiresolution discrete Fourier transform (MrDFT). The algorithm is based on the idea of reducing the computational complexity which was introduced by Wen and…
Computer simulation with Monte Carlo is an important tool to investigate the function and equilibrium properties of many systems with biological and soft matter materials solvable in solvents. The appropriate treatment of long-range…
The R package calculus implements C++ optimized functions for numerical and symbolic calculus, such as the Einstein summing convention, fast computation of the Levi-Civita symbol and generalized Kronecker delta, Taylor series expansion,…
For a certain class of functions, the distribution of the function values can be calculated in the trellis or a sub-trellis. The forward/backward recursion known from the BCJR algorithm is generalized to compute the moments of these…
In this paper we consider the problem of constructing numerical algorithms for approximating of convex compact bodies in d-dimensional Euclidean space by polytopes with any given accuracy. It is well known that optimal with respect to the…
This article presents an algorithm to compute digital images of Voronoi, Johnson-Mehl or Laguerre diagrams of a set of punctual sites, in a domain of a Euclidean space of any dimension. The principle of the algorithm is, in a first step, to…
We propose fast and practical quantum-inspired classical algorithms for solving linear systems. Specifically, given sampling and query access to a matrix $A\in\mathbb{R}^{m\times n}$ and a vector $b\in\mathbb{R}^m$, we propose classical…
We introduce two kinds of quantum algorithms to explore microcanonical and canonical properties of many-body systems. The first one is a hybrid quantum algorithm that, given an efficiently preparable state, computes expectation values in a…
A set of algorithms is presented for efficient numerical calculation of the time evolution of classical dynamical systems. Starting with a first approximation for solving the differential equations that has a "reversible" character, we show…
Computing the autotopism group of a partial Latin rectangle can be performed in a variety of ways. This pilot study has two aims: (a) to compare these methods experimentally, and (b) to identify the design goals one should have in mind for…