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Robot footstep planning strategies can be divided in two main approaches: discrete searches and continuous optimizations. While discrete searches have been broadly applied, continuous optimizations approaches have been restricted for…
This paper has been inspired by ideas presented by V. V. Kozlov in his works [19, 20]. In this paper our goal is to carry out a thorough analysis of some geometric problems of the dynamics of affinely-rigid bodies. We present two ways to…
We propose a unifying algorithm for non-smooth non-convex optimization. The algorithm approximates the objective function by a convex model function and finds an approximate (Bregman) proximal point of the convex model. This approximate…
We propose a new family of subgradient- and gradient-based methods which converges with optimal complexity for convex optimization problems whose feasible region is simple enough. This includes cases where the objective function is…
We propose two new alternating direction methods to solve "fully" nonsmooth constrained convex problems. Our algorithms have the best known worst-case iteration-complexity guarantee under mild assumptions for both the objective residual and…
We develop a rigid multiblob method for numerically solving the mobility problem for suspensions of passive and active rigid particles of complex shape in Stokes flow in unconfined, partially confined, and fully confined geometries. As in a…
Recent work in the literature has studied the restricted three-body problem within the framework of effective-field-theory models of gravity. This paper extends such a program by considering the full three-body problem, when the Newtonian…
A class of second-order algorithms is proposed for minimizing smooth nonconvex functions that alternates between regularized Newton and negative curvature steps in an iteration-dependent subspace. In most cases, the Hessian matrix is…
The problem of determining the configuration of points from partial distance information, known as the Euclidean Distance Geometry (EDG) problem, is fundamental to many tasks in the applied sciences. In this paper, we propose two algorithms…
We study the slightly compressible Darcy-Forchheimer equations modeling gas flow in porous media, particularly in applications related to combustion processes. The equations are discretized in time using the backward Euler method and in…
The purpose of this publication is to derive and discuss equations of motion of affinely rigid (homogeneously deformable) body moving in Euclidean space of general dimension $n$. Our aim is to present some analytical methods and to discuss…
We present a systematically improvable method for numerically solving relativistic three-body integral equations for the partial-wave projected amplitudes. The method consists of a discretization procedure in momentum space, which…
We determine the general form of the potential of the problem of motion of a rigid body about a fixed point, which allows the angular velocity to remain permanently in a principal plane of inertia of the body. Explicit solution of the…
We consider optimization problems on manifolds with equality and inequality constraints. A large body of work treats constrained optimization in Euclidean spaces. In this work, we consider extensions of existing algorithms from the…
We consider a two-dimensional, incompressible fluid body, together with self-induced interactions. The body is perturbed by an external particle with small mass. The whole configuration rotates uniformly around the common center of mass. We…
Model reduction methods often aim at an identification of slow invariant manifolds in the state space of dynamical systems modeled by ordinary differential equations. We present a predictor corrector method for a fast solution of an…
The article formulates the classical three-body problem in conformal-Euclidean space (Riemannian manifold), and its equivalence to the Newton three-body problem is mathematically rigorously proved. It is shown that a curved space with a…
We introduce a family of mixed methods and discontinuous Galerkin discretisations designed to numerically solve the Oseen equations written in terms of velocity, vorticity, and Bernoulli pressure. The unique solvability of the continuous…
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…
In this paper we propose a unified two-phase scheme for convex optimization to accelerate: (1) the adaptive cubic regularization methods with exact/inexact Hessian matrices, and (2) the adaptive gradient method, without any knowledge of the…