Related papers: Finite-Step Invariant Sets for Hybrid Systems with…
We obtain a description of the Poincar\'e recurrences of chaotic systems in terms of the ergodic theory of transient chaos. It is based on the equivalence between the recurrence time distribution and an escape time distribution obtained by…
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-1 (P1) and Period-2 (P2) orbits are geometrically…
Numerical analysis for linear constant-coefficients Finite Difference schemes was developed approximately fifty years ago. It relies on the assumption of scheme stability and in particular -- for the $L^2$ setting -- on the absence of…
We consider time-invariant nonlinear $n$-dimensional strongly $2$-cooperative systems, that is, systems that map the set of vectors with up to weak sign variation to its interior. Strongly $2$-cooperative systems enjoy a strong…
Noisy observations coupled with nonlinear dynamics pose one of the biggest challenges in robot motion planning. By decomposing nonlinear dynamics into a discrete set of local dynamics models, hybrid dynamics provide a natural way to model…
In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an exponential rate in the near future. However, ensuring safety with…
Ensuring safety through set invariance has proven to be a valuable method in various robotics and control applications. This paper introduces a comprehensive framework for the safe probabilistic invariance verification of both discrete- and…
Searching recurrent patterns in complex systems with high-dimensional phase spaces is an important task in diverse fields. In the current work, an improved scheme is proposed to accelerate the recently designed variational approach for…
This paper proposes a mechanism to fine-tune convex approximations of probabilistic reachable sets (PRS) of uncertain dynamic systems. We consider the case of unbounded uncertainties, for which it may be impossible to find a bounded…
Computing kinodynamically feasible motion plans and repairing them on-the-fly as the environment changes is a challenging, yet relevant problem in robot-navigation. We propose a novel online single-query sampling-based motion re-planning…
Invariant measures encode the long-time behaviour of a dynamical system. In this work, we propose an optimization-based method to discover invariant measures directly from data gathered from a system. Our method does not require an explicit…
We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets.…
In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…
We show that the probability distribution function that best fits the distribution of return times between two consecutive visits of a chaotic trajectory to finite size regions in phase space deviates from the exponential statistics by a…
The identification of integrable dynamics remains a formidable challenge, and despite centuries of research, only a handful of examples are known to date. In this article, we explore a special form of area-preserving (symplectic) mappings…
In this paper we propose an improved method for calculating Henon's stability parameter, which is based on the differential of the Poincare map using the first variational equation. We show that this method is very accurate and give some…
We study a three-dimensional dynamical system in two slow variables and one fast variable. We analyze the tangency of the unstable manifold of an equilibrium point with "the" repelling slow manifold, in the presence of a stable periodic…
In unconstrained maximum a posteriori (MAP) and maximum likelihood estimation, the inverse of minus the merit-function Hessian matrix is an approximation of the estimate covariance matrix. In the Bayesian context of MAP estimation, it is…
In Hamiltonian systems subjected to periodic perturbations the stable and unstable manifolds of the unstable periodic orbits provide the dynamical "skeleton" that drives the mixing process and bounds the chaotic regions of the phase space.…
We present and implement an algorithm for computing the invariant circle and the corresponding stable manifolds for 2-dimensional maps. The algorithm is based on the parameterization method, and it is backed up by an a-posteriori theorem…