Related papers: Generalized Nonlinear and Finsler Geometry for Rob…
We introduce Riemannian First-Passage Percolation (Riemannian FPP) as a new model of random differential geometry, by considering a random, smooth Riemannian metric on $\mathbb R^d$. We are motivated in our study by the random geometry of…
A differential algebra of nonlinear generalized functions is presented as a tool for a wide range of nonsmooth nonlinear problems. The power of the differential algebra is used to do mathematical calculations or proofs; then the final…
The Riemannian geometry of elastica in one and two dimensions is considered. An example is given of the deflexion or Frenet curvature of the elastic filament rod where the Riemannian curvature vanishes, since the curve is one dimensional.…
State-space smoothing has found many applications in science and engineering. Under linear and Gaussian assumptions, smoothed estimates can be obtained using efficient recursions, for example Rauch-Tung-Striebel and Mayne-Fraser algorithms.…
After defining generalizations of the notions of covariant derivatives and geodesics from Riemannian geometry for reductive Cartan geometries in general, various results for reductive Cartan geometries analogous to important elementary…
The emergence of generalized square metrics in Finsler geometry can be attributed to various classification concerning ({\alpha}, \beta})-metrics. They have excellent geometric properties in Finsler geometry. Within the scope of this…
We study a special class of Finsler metrics which we refer to as Almost Rational Finsler metrics (shortly, AR-Finsler metrics). We give necessary and sufficient conditions for an AR-Finsler manifold $(M,F)$ to be Riemannian. The rationality…
Geometric mechanics models of locomotion have provided insight into how robots and animals use environmental interactions to convert internal shape changes into displacement through the world, encoding this relationship in a ``motility…
This paper describes a novel framework for computing geodesic paths in shape spaces of spherical surfaces under an elastic Riemannian metric. The novelty lies in defining this Riemannian metric directly on the quotient (shape) space, rather…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…
[1] investigates advanced connotations of Hardy and Rellich-type inequalities on complete noncompact Riemannian manifolds, delving on deriving inequalities that incorporate poignant weight functions. These inequalities prolongate classical…
A common feature of all Quantum Gravity (QG) phenomenology approaches is to consider a modification of the mass shell condition of the relativistic particle to take into account quantum gravitational effects. The framework for such…
I introduce a new geometrical approach to thermo--statistical mechanics. Here I highlight the main physical ideas, and how do they translate into geometrical language. I contrast the present approach with previous…
Riemann's non-differentiable function is a classic example of a continuous function which is almost nowhere differentiable, and many results concerning its analytic regularity have been shown so far. However, it can also be given a…
Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to formalize and investigate the theoretical properties and…
Learning with symmetric positive definite (SPD) matrices has many applications in machine learning. Consequently, understanding the Riemannian geometry of SPD matrices has attracted much attention lately. A particular Riemannian geometry of…
Correlation matrices are fundamental summaries of functional brain networks, yet standard analyses often treat entries independently, ignoring the curved geometry of correlation space. Existing geometric methods frequently lack closed-form…
We survey the geometry of Lagrange and Finsler spaces and discuss the issues related to the definition of curvature of nonholonomic manifolds enabled with nonlinear connection structure. It is proved that any commutative Riemannian geometry…
While linear systems are well-understood, no explicit solution for general nonlinear systems exists. A classical approach to make the understanding of linear system available in the nonlinear setting is to represent a nonlinear system by a…
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…