Related papers: Conic Frameworks Infinitesimal Rigidity
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
A $d$-dimensional (bar-and-joint) framework $(G,p)$ consists of a graph $G=(V,E)$ and a realisation $p:V\to \mathbb{R}^d$. It is rigid if every continuous motion of the vertices which preserves the lengths of the edges is induced by an…
In the paper we consider convex cones in infinite-dimensional real vector spaces which are endowed with no topology. The main purpose is to study an internal geometric structure of convex cones and to obtain an analytical description of…
Some aspects of a mathematical theory of rigidity and flexibility are developed for general infinite frameworks and two main results are obtained. In the first sufficient conditions, of a uniform local nature, are obtained for the existence…
We give an algebraic characterization of when a $d$-dimensional periodic framework has no non-trivial, symmetry preserving, motion for any choice of periodicity lattice. Our condition is decidable, and we provide a simple algorithm that…
This paper develops a control-theoretic framework for analyzing agentic systems embedded within feedback control loops, where an AI agent may adapt controller parameters, select among control strategies, invoke external tools, reconfigure…
We consider uniformly strongly elliptic systems of the second order with bounded coefficients. First, sufficient conditions for the invariance of convex bodies obtained for linear systems without zero order term in bounded domains and…
A significant range of geometric structures whose rigidity is explored for both practical and theoretical purposes are formed by modifying generically isostatic triangulated spheres. In the block and hole structures (P, p), some edges are…
Consider a small group of mobile agents whose goal is to locate a certain cell in a two-dimensional infinite grid. The agents operate in an asynchronous environment, where in each discrete time step, an arbitrary subset of the agents…
Zauner's conjecture concerns the existence of $d^2$ equiangular lines in $\mathbb{C}^d$; such a system of lines is known as a SIC. In this paper, we construct infinitely many new SICs over finite fields. While all previously known SICs…
In this paper, we study the emergence of circular formation for agents in cyclic pursuit. Each agent is a unicycle traveling at a fixed common forward speed. We first establish a necessary and sufficient condition for the existence of…
We study the deformation of spherical conical metrics with at least some of the cone angles larger than $2\pi$. We show in this note via synthetic geometry that for one family of such metrics, there is local rigidity in the choice of cone…
Cone spherical metrics are conformal metrics with constant curvature one and finitely many conical singularities on compact Riemann surfaces. A cone spherical metric is called irreducible if each developing map of the metric does not have…
In this paper, we introduce a natural classification of bar and joint frameworks that possess symmetry. This classification establishes the mathematical foundation for extending a variety of results in rigidity, as well as infinitesimal or…
A group G is called bounded if every conjugation-invariant norm on G has finite diameter. We introduce various strengthenings of this property and investigate them in several classes of groups including semisimple Lie groups, arithmetic…
Maxwell's rule from 1864 gives a necessary condition for a framework to be isostatic in 2D or in 3D. Given a framework with point group symmetry, group representation theory is exploited to provide further necessary conditions. This paper…
Many complex systems can be modeled as multiagent systems in which the constituent entities (agents) interact with each other. The global dynamics of such a system is determined by the nature of the local interactions among the agents.…
We present a new semidefinite Farkas lemma involving a side constraint on the rank. This lemma is then used to present a new proof of a recent characterization, by Connelly and Gortler, of dimensional rigidity of bar frameworks.
This paper studies the informativity problem for reachability and null-controllability of constrained systems. To be precise, we will focus on an unknown linear systems with convex conic constraints from which we measure data consisting of…
We describe the first-order variations of the angles of Euclidean, spherical or hyperbolic polygons under infinitesimal deformations such that the lengths of the edges do not change. Using this description, we introduce a vector-valued…