Related papers: Identifying Fixed Points in the Three-Body Problem…
This paper develops a robust angles-only IROD method based on polynomial optimization for arbitrary nonlinear dynamics. First, the relative motion is approximated by high-order Taylor polynomials within the differential algebra framework,…
The most commonly used method for addressing 3D geometric registration is the iterative closet-point algorithm, this approach is incremental and prone to drift over multiple consecutive frames. The Common strategy to address the drift is…
In this work, we leverage the 2-contraction theory, which extends the capabilities of classical contraction theory, to develop a global stability framework. Coupled with powerful geometric tools such as the Poincare index theory, the…
A general method for accelerating fixed point schemes for problems related to partial differential equations is presented in this article. The speedup is obtained by training a reduced-order model on-the-fly, removing the need to do an…
Chaotic diffusion on periodic orbits (POs) is studied for the perturbed Arnol'd cat map on a cylinder, in a range of perturbation parameters corresponding to an extended structural-stability regime of the system on the torus. The diffusion…
We develop a continuation technique to obtain global families of stable periodic orbits, delimited by transcritical bifurcations at both ends. To this end, we formulate a zero-finding problem whose zeros correspond to families of periodic…
In this paper, the study of the global orbit pattern (gop) formed by all the periodic orbits of discrete dynamical systems on a finite set $X$ allows us to describe precisely the behaviour of such systems. We can predict by means of closed…
Fixed-Point-Oriented Programming (FPOP) is an emerging paradigm designed to streamline the implementation of problems involving self-referential computations. These include graph algorithms, static analysis, parsing, and distributed…
We prove that every semidefinite moment relaxation of a polynomial optimization problem (POP) with a ball constraint can be reformulated as a semidefinite program involving a matrix with constant trace property (CTP). As a result such…
This work presents the first application of the state-of-the-art Koenig-D'Amico reachable set theory solver to cislunar, chaotic relative motion in the Circular-Restricted Three-Body Problem (CR3BP). The relative motion dynamics of two…
Many unstable periodic orbits of the planar circular restricted 3-body problem (PCRTBP) persist as invariant tori when a periodic forcing is added to the equations of motion. In this study, we compute tori corresponding to exterior…
In the Upper Degree-Constrained Partial Orientation problem we are given an undirected graph $G=(V,E)$, together with two degree constraint functions $d^-,d^+ : V \to \mathbb{N}$. The goal is to orient as many edges as possible, in such a…
Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of…
A computer-assisted argument is given, which provides existence proofs for periodic orbits in state-dependent delayed perturbations of ordinary differential equations (ODEs). Assuming that the unperturbed ODE has an isolated periodic orbit,…
Inexpensive numerical methods are key to enable simulations of systems of a large number of particles of different shapes in Stokes flow. Several approximate methods have been introduced for this purpose. We study the accuracy of the…
DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…
Localizing targets outside the anchors' convex hull is an understudied but prevalent scenario in vehicle-centric, UAV-based, and self-localization applications. Considering such scenarios, this paper studies the optimal anchor placement…
We apply the Proper Orthogonal Decomposition (POD) method for the efficient simulation of several scenarios undergone by Micro-Electro-Mechanical-Systems, involving nonlinearites of geometric and electrostatic nature. The former type of…
The three-body problem has been studied for more than three centuries [1,2], and has received much attention in recent years [3-5]. It shows complex dynamical phenomena due to the mutual gravitational interaction of the three bodies. Triple…
Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or differential dynamic programming (DDP), are often limited by…