Related papers: A Minimalist Approach to Rolling Wheels
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…
This paper fails to derive quantum mechanics from a few simple postulates. But it gets very close --- and it does so without much exertion. More exactly, I obtain a representation of finite-dimensional probabilistic systems in terms of…
Let G (V, E) be a simple graph with vertex set V and edge set E. A generalized cycle is a subgraph such that any vertex degree is even. A simple cycle (briefly in a cycle) is a connected subgraph such that every vertex has degree 2. A basis…
Guided by the research line introduced by Martindale III in [1] on the study of the additivity of maps, this article aims establish condi- tions on triangular matrix rings in order that an map ' satisfying '(ab + ba) = '(a)b + a'(b) + '(b)a…
In 1952 Bohm presented a theory about non-relativistic point-particles moving along deterministic trajectories and showed how it reproduces the predictions of standard quantum theory. This theory was actually presented before by de Broglie…
When regularity lemmas were first developed in the 1970s, they were described as results that promise a partition of any graph into a ``small'' number of parts, such that the graph looks ``similar'' to a random graph on its edge subsets…
There are two rather distinct approaches to Morse theory nowadays: smooth and discrete. We propose to study a real valued function by assembling all associated sections in a topological category. From this point of view, Reeb functions on…
Usual mathematical method for creating trochoids is based on a solid rule that requires a pure rolling motion of a circle along another one. In this vision a trochoid defined as a traced path by an attached point (a non-conceptive issue) to…
We show the regularity of, and derive a-priori estimates for (weakly) harmonic maps from a Riemannian manifold into a Euclidean sphere under the assumption that the image avoids some neighborhood of a half-equator. The proofs combine…
The traditional way of estimating the gravitational field from observed motions of test objects is based on the virial relation between their kinetic and potential energy. We find a more efficient method. It is based on the natural…
Among reduced Noetherian prime characteristic commutative rings, we prove that a regular ring is precisely one where finite intersection of ideals commutes with taking bracket powers. However, reducedness is essential for this equivalence.…
We consider the problem of a sphere rolling of a curved surface and solve it by mapping it to the precession of a spin 1/2 in a magnetic field of variable magnitude and direction. The mapping can be of pedagogical use in discussing both…
Rolling lubrication with spherical molecules working as 'nanobearings' has failed experimentally so far, without a full understanding of the physics involved and of the reasons why. Past model simulations and common sense have shown that…
We establish a short-time existence theory for complete Ricci flows under scaling-invariant curvature bounds, starting from rotationally symmetric metrics on $\mathbb{R}^{n+1}$ that are noncollapsed at infinity, without assuming bounded…
We show how the rotation and translation fields of a surface, introduced by G. Darboux, may be used to obtain short proofs of a well-known theorem (that reads that the total mean curvature of a surface is stationary under an infinitesimal…
150 years after the discovery of quaternions, Hamilton's conjecture that quaternions are a fundamental language for physics is reevaluated and shown to be essentially correct, provided one admits complex numbers in both classical and…
The model of a bicycle is a unit segment AB that can move in the plane so that it remains tangent to the trajectory of point A (the rear wheel is fixed on the bicycle frame); the same model describes the hatchet planimeter. The trajectory…
These are expanded notes of author's talk at the ECM 2008 attempting to give an elementary introduction into the main ideas of the theory of wheeled props for beginners, and also a survey of its most recent major applications (ranging from…
We consider a mathematical model of the breakout game where $\mathbb{R}^2$ is covered by unit square bricks everywhere except in one place. We introduce elementary blocks (particular sets of bricks) in order to describe a family of periodic…