Related papers: Conic Frameworks Infinitesimal Rigidity
This paper develops a uniformly valid and asymptotically nonconservative test based on projection for a class of shape restrictions. The key insight we exploit is that these restrictions form convex cones, a simple and yet elegant structure…
A two-dimensional direction-length framework $(G,p)$ consists of a multigraph $G=(V;D,L)$ whose edge set is formed of "direction" edges $D$ and "length" edges $L$, and a realisation $p$ of this graph in the plane. The edges of the framework…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
We illustrate how the different kinds of constraints acting on an impulsive mechanical system can be clearly described in the geometric setup given by the configuration space--time bundle $\pi_t:\mathcal{M} \to \mathbb{E}$ and its first jet…
The theory of disordered elastic systems is one of the most powerful frameworks to assess the physics of multiple systems that span from ferromagnets to migrating biological cells. In this formalism, one assumes that the system can be…
Many deep, mysterious connections have been observed between collections of mutually unbiased bases (MUBs) and combinatorial designs called $k$-nets (and in particular, between complete collections of MUBs and finite affine - or…
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…
Energy-minimizing constraint maps are a natural extension of the obstacle problem within a vectorial framework. Due to inherent topological constraints, these maps manifest a diverse structure that includes singularities similar to harmonic…
This paper studies the problem of multi-agent cooperative localization of a common reference coordinate frame in $\mathbb{R}^3$. Each agent in a system maintains a body-fixed coordinate frame and its actual \textit{frame transformation}…
This paper investigates the reduced attitude formation control problem for a group of rigid-body agents using feedback based on relative attitude information. Under both undirected and directed cycle graph topologies, it is shown that…
An infinite periodic framework in the plane can be represented as a framework on a torus, using a $\mathbb Z^2$-labelled gain graph. We find necessary and sufficient conditions for the generic minimal rigidity of frameworks on the…
A longstanding problem in rigidity theory is to characterize the graphs which are minimally generically rigid in 3-space. The results of Cauchy, Dehn, and Alexandrov give one important class: the triangulated convex spheres, but there is an…
A structure is called homogeneous if every isomorphism between finite substructures of the structure extends to an automorphism of the structure. Recently, P. J. Cameron and J. Ne\v{s}et\v{r}il introduced a relaxed version of homogeneity:…
We show that static data structure lower bounds in the group (linear) model imply semi-explicit lower bounds on matrix rigidity. In particular, we prove that an explicit lower bound of $t \geq \omega(\log^2 n)$ on the cell-probe complexity…
This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
In this paper I give a condition, in terms of boundary behaviour, that forces the infinitesimal generator of a one-parameter semigroup of holomorphic maps to vanish.
Abstract. We present a framework for the kinematics of a material body undergoing anelastic deformation. For such processes, the material structure of the body, as reflected by the geometric structure given to the set of body points,…
A natural problem in combinatorial rigidity theory concerns the determination of the rigidity or flexibility of bar-joint frameworks in $\mathbb{R}^d$ that admit some non-trivial symmetry. When $d=2$ there is a large literature on this…
Flexible mechanical metamaterials possess repeating structural motifs that imbue them with novel, exciting properties including programmability, anomalous elastic moduli and nonlinear and robust response. We address such structures via…