Related papers: A Coordinate System for Dynamical Instabilities in…
At high eccentricities, tidal forcing excites vibrational modes within orbiting bodies known as dynamical tides. In this paper, we implement the coupled evolution of these modes with the body's orbit in the \texttt{REBOUNDx} framework, an…
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using…
We introduce ASSIST, a software package for ephemeris-quality integrations of test particles. ASSIST is an extension of the REBOUND framework and makes use of its IAS15 integrator to integrate test particle trajectories in the field of the…
Planets have been observed in tight binary systems with separations less than 20 AU. A likely formation scenario for such systems involves a dynamical capture, after which high relative inclinations are likely and may lead to Kozai…
We present a GPU-accelerated numerical integrator specifically optimized for stability calculations of small bodies in planetary systems. Specifically, the integrator is designed for cases when large numbers of test particles (tens or…
Real-time hybrid testing is a method in which a substructure of the system is realised experimentally and the rest numerically. The two parts interact in real time to emulate the dynamics of the full system. Such experiments however are…
We present new almost time-reversible integrators for solution of planetary systems consisting of "planets" and a dominant mass ("star"). The algorithms can be considered adaptive generalizations of the Wisdom--Holman method, in which all…
We describe the implementation of a new module which can be used to simulate physical systems in which the motion of particles is affected by stochastic forces. Such forces are expected to be present in turbulent circumstellar disks or…
We present EnckeHH, a new, highly accurate code for orbital dynamics of perturbed Keplerian systems such as planetary systems or galactic centre systems. It solves Encke's equations of motion, which assume perturbed Keplerian orbits. By…
Symplectic methods, in particular the Wisdom-Holman map, have revolutionized our ability to model the long-term, conservative dynamics of planetary systems. However, many astrophysically important effects are dissipative. The consequences…
Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
We present a fragmentation module and a composition tracking code for the $n$-body code REBOUND. Our fragmentation code utilises previous semi-analytic models and follows an implementation method similar to fragmentation for the $n$-body…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…
Debris discs are traditionally studied using two distinct types of numerical models: statistical particle-in-a-box codes to study their collisional and size distribution evolution, and dynamical N-body models to study their spatial…
We present a simple algorithm to switch between $N$-body time integrators in a reversible way. We apply it to planetary systems undergoing arbitrarily close encounters and highly eccentric orbits, but the potential applications are broader.…
In previous publications dressed coordinates and dressed states has been introduced. Specifically, a system composed by a harmonic oscillator interacting linearly with an infinity set of other oscillators has been treated. In this paper we…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
We present BIFROST, an extended version of the GPU-accelerated hierarchical fourth-order forward symplectic integrator code FROST. BIFROST (BInaries in FROST) can efficiently evolve collisional stellar systems with arbitrary binary…