Related papers: A combinatorial approach to geometric rough paths …
The non-linear sewing lemma constructs flows of rough differential equations from a braod class of approximations called almost flows. We consider a class of almost flows that could be approximated by solutions of ordinary differential…
We develop a geometric version of the inverse problem of the calculus of variations for discrete mechanics and constrained discrete mechanics. The geometric approach consists of using suitable Lagrangian and isotropic submanifolds. We also…
Some combinatorial properties of fixed boundary rhombus random tilings with octagonal symmetry are studied. A geometrical analysis of their configuration space is given as well as a description in terms of discrete dynamical systems, thus…
A theorem of Laman gives a combinatorial characterisation of the graphs that admit a realisation as a minimally rigid generic bar-joint framework in $\bR^2$. A more general theory is developed for frameworks in $\bR^3$ whose vertices are…
The Hairer-Kelly map has been introduced for establishing a correspondence between geometric and non-geometric rough paths. Recently, a new renormalisation on rough paths has been proposed in (arxiv 1810.12179), built on this map and the…
A rigidity theory is developed for frameworks in a metric space with two types of distance constraints. Mixed sparsity graph characterisations are obtained for the infinitesimal and continuous rigidity of completely regular bar-joint…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
We use the methods of geometric control theory to study extremal trajectories of vertical rolling disk. We focus on the role of symmetries of the underlying geometric structures. We demonstrate the computations in the CAS Maple package…
We prove an extension to the classical continuity theorem in rough paths. We show that two $p$-rough paths are close in all levels of iterated integrals provided the first $\lfl p \rfl$ terms are close in a uniform sense. Applications…
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…
We consider Euclidean path integrals with higher derivative actions, including those that depend quadratically on acceleration, velocity and position. Such path integrals arise naturally in the study of stiff polymers, membranes with…
Retractions maps are used to define a discretization of the tangent bundle of the configuration manifold as two copies of the configuration manifold where the dynamics take place. Such discretization maps can be conveniently lifted to a…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
Recent mathematical advances in the context of rough volatility have highlighted interesting and intricate connections between path-dependent partial differential equations and backward stochastic partial differential equations. In this…
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…
An approximate formulation of a robust geometric program (RGP) as a convex program is proposed. Interest in using geometric programs (GPs) to model complex engineering systems has been growing, and this has motivated explicitly modeling the…
We study the concept of quadratic variation of a continuous path along a sequence of partitions and its dependence with respect to the choice of the partition sequence. We define the concept of quadratic roughness of a path along a…
Shape inference is classically ill-posed, because it involves a map from the (2D) image domain to the (3D) world. Standard approaches regularize this problem by either assuming a prior on lighting and rendering or restricting the domain,…
Stochastic evolution equations describing the dynamics of systems under the influence of both deterministic and stochastic forces are prevalent in all fields of science. Yet, identifying these systems from sparse-in-time observations…
Let $G$ be a group, $\mathcal{P}_G$ be the family of all subsets of $G$. For a subset $A\subseteq G$, we put $\Delta(A)=\{g\in G:|gA\cap A|=\infty\}$. The mapping $\Delta:\mathcal{P}_G\rightarrow\mathcal{P}_G$, $A\mapsto\Delta(A)$, is…