Related papers: Designing robust trajectories by lobe dynamics in …
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…
We study raw coding of trajectories of a chaotic dynamical system by sequences of elements from a finite alphabet and show that there is a fundamental constraint on differences between codes corresponding to different trajectories of the…
Recently patterns were found in the least significant digits in the logistic map orbits in the chaotic regime. However, the dynamic of these digits was not explored in deep. We propose a new interpretation of the patterns found in the least…
Structures such as waves, jets, and vortices have a dramatic impact on the transport properties of a flow. Passive tracer transport in incompressible two-dimensional flows is described by Hamiltonian dynamics, and, for idealized structures,…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
Complex chaotic dynamics, seen in natural and industrial systems like turbulent flows and weather patterns, often span vast spatial domains with interactions across scales. Accurately capturing these features requires a high-dimensional…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
It is demonstrated that improved entrainment control of chaotic systems can maintain periodic goal dynamics near unstable periodic orbits without feedback. The method is based on the optimization of goal trajectories and leads to small…
Advancing quantum technologies requires precise and robust coherent control of quantum systems. Robust higher-order Hamiltonian engineering is essential for high-precision control and for accessing effective dynamics absent at zeroth order.…
Vortices are known to play a key role in the dynamics of the quantum trajectories defined within the framework of the de Broglie-Bohm formalism of quantum mechanics. It has been rigourously proved that the motion of a vortex in the…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Here I review recent work, by other authors and by myself, on some particular topics related to the regular and chaotic motion in elliptical galaxies. I show that it is quite possible to build highly stable triaxial stellar systems that…
We describe adaptive control algorithms whereby a chaotic dynamical system can be steered to a target state with desired characteristics. A specific implementation considered has the objective of directing the system to a state which is…
The logistic map is a paradigmatic dynamical system originally conceived to model the discrete-time demographic growth of a population, which shockingly, shows that discrete chaos can emerge from trivial low-dimensional non-linear dynamics.…
The efficient detection of chaotic behavior in orbits of a complex dynamical system is an active domain of research. Several indicators have been proposed in the past, and new ones have recently been developed in view of improving the…
The growing interest in the cislunar domain over the past decade has led to an increasing demand for low-thrust missions to key orbits within this region. These low-thrust missions, typically characterized by long thrust arcs, are highly…
In this letter, we show that coherent structures are related to folds of horseshoes which are present in chaotic systems. We develop techniques that allow us to construct coherent structures by manipulating folds in three prototypical…