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The cohesive collective motion (flocking, swarming) of autonomous agents is ubiquitously observed and exploited in both natural and man-made settings, thus, minimal models for its description are essential. In a model with continuous space…
Integrability conditions for systems of bosons or fermions with seniority conserving hamiltonians are derived. The conditions are shown to be invariant under a large class of transformations of the interaction matrix elements. Previously…
We study the phase space dynamics of cosmological models in the theoretical formulations of non-minimal metric-torsion couplings with a scalar field, and investigate in particular the critical points which yield stable solutions exhibiting…
We derive a hydrodynamic description of metric-free active matter: starting from self-propelled particles aligning with neighbors defined by "topological" rules, not metric zones, -a situation advocated recently to be relevant for bird…
A fully analytical approach based on the equation of motion technique to investigate the spectral properties and orbital occupations in an interacting double quantum dot in equilibrium is presented. By solving a linear system for the…
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at…
In this paper we demonstrate a route to develop coherence in a system of non-driven oscillators. Here, the coherence is brought about via physical collisions through which the oscillators exchange energy. While coherence in the classical…
We investigate ground-state and thermal properties of a system of non-relativistic bosons interacting through repulsive, two-body interactions in a self-consistent gaussian mean-field approximation wich consists in writing the variational…
We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and…
In this paper the normal collision of spherical particles is investigated. The particle interaction is modelled in a macroscopic way using the Hertzian contact force with additional linear damping. The goal of the work is to develop an…
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…
We introduce a method to identify phase equations that include $N$-body interactions for general coupled oscillators valid far beyond the weak coupling approximation. This strategy is an extension of the theory from [Park and Wilson, SIADS…
We consider a classical spring-mass model of human running which is built upon an inverted elastic pendulum. Based on our previous results concerning asymptotic solutions for large spring constant (or small angle of attack), we construct…
In this article an anisotropic interaction model avoiding collisions is proposed. Starting point is a general isotropic interacting particle system, as used for swarming or follower-leader dynamics. An anisotropy is induced by rotation of…
In this paper, we consider the spatially inhomogeneous diffusively driven inelastic Boltzmann equation in different cases: the restitution coefficient can be constant or can depend on the impact velocity (which is a more physically relevant…
This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct…
Summary: A system of autonomous ordinary differential equations depending on a small parameter is considered such that the unperturbed system has an invariant manifold of periodic solutions that is not normally hyperbolic but is normally…
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore degrade when slip occurs. We propose a control framework that…
A more reasonable trial ground state wave function is constructed for the relative motion of an interacting two-fermion system in a 1D harmonic potential. At the boundaries both the wave function and its first derivative are continuous and…
In this paper we study a kinetic model for pedestrians, who are assumed to adapt their motion towards a desired direction while avoiding collisions with others by stepping aside. These minimal microscopic interaction rules lead to complex…