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Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but…

Robotics · Computer Science 2026-03-03 Jiayi Chen , Wei Zhao , Liangwang Ruan , Baoquan Chen , He Wang

The divisor graph is the non oriented graph whose vertices are the positive integers, and edges are the {a,b} such that a divides b or b divides a. Let F(x,y) be the maximum number of integers<= x belonging in one of y pairwise disjoint…

Combinatorics · Mathematics 2025-02-18 Eric Saias

The purpose of this note is to give an (esentially optimal) effective version of Matsusaka's Big theorem for smooth projective surfaces.

alg-geom · Mathematics 2008-02-03 Guillermo Fernández del Busto

We construct a smooth, area preserving, mixing flow with finitely many non-degenerate fixed points and no saddle connections on a closed surface of genus 5. This resolves a problem that has been open for four decades.

Dynamical Systems · Mathematics 2015-01-14 Jon Chaika , Alex Wright

In this note, we extend work of Farkas and Rim\'anyi on applying quadric rank loci to finding divisors of small slope on the moduli space of curves by instead considering all divisorial conditions on the hypersurfaces of a fixed degree…

Algebraic Geometry · Mathematics 2021-10-06 Dennis Tseng

We show that the automorphism group of a certain subclass of smooth Gizatullin surfaces with a distinguished and rigid extended divisor is generated by automorphisms of A1-fibrations. Moreover, such surfaces provide examples of smooth…

Algebraic Geometry · Mathematics 2014-02-05 Sergei Kovalenko

Let S be a smooth projective surface, K be the canonical class of S and H be an ample divisor such that H.K<0 . In this paper we prove that for any rigid (Ext^1(F,F)=0) semistable sheaf F in the sense of Mumford--Takemoto stability w.r.t. H…

alg-geom · Mathematics 2008-02-03 Boris V. Karpov

We investigate the notion of the $p$-divisor for foliations on a smooth algebraic surface defined over a field of positive characteristic $p$ and we study some of their properties. We present a structure theorem for the $p$-divisor of…

Algebraic Geometry · Mathematics 2022-06-16 Wodson Mendson

We prove sharp bounds on the discriminants of stable rank two sheaves on surfaces in three-dimensional projective space. The key technical ingredient is to study them as torsion sheaves in projective space via tilt stability in the derived…

Algebraic Geometry · Mathematics 2019-07-10 Benjamin Schmidt , Benjamin Sung

This paper contains four main results associated with an attractor of a projective iterated function system (IFS). The first theorem characterizes when a projective IFS has an attractor which avoids a hyperplane. The second theorem…

Dynamical Systems · Mathematics 2015-03-13 Michael F. Barnsley , Andrew Vince

We give a theorem on the effective non-vanishing problem for algebraic surfaces in positive characteristic. For the Kawamata-Viehweg vanishing, the logarithmic Kollar vanishing and the logarithmic semipositivity, we give their…

Algebraic Geometry · Mathematics 2007-05-23 Qihong Xie

We study some new dynamical systems where the corresponding piecewise linear flow is neither time reversible nor measure preserving. We create a dissipative system by starting with a finite polysquare translation surface, and then modifying…

Dynamical Systems · Mathematics 2024-05-29 J. Beck , W. W. L. Chen , Y. Yang

Subdivision surfaces are proven to be a powerful tool in geometric modeling and computer graphics, due to the great flexibility they offer in capturing irregular topologies. This paper discusses the robust and efficient implementation of an…

Numerical Analysis · Mathematics 2015-03-13 Bert Jüttler , Angelos Mantzaflaris , Ricardo Perl , Martin Rumpf

We compute the cone of effective divisors on any moduli space of semistable sheaves on the plane. The computation hinges on finding a good resolution of a general stable sheaf. This resolution is determined by Bridgeland stability and…

Algebraic Geometry · Mathematics 2014-01-09 Izzet Coskun , Jack Huizenga , Matthew Woolf

Let $D$ be a smooth divisor on a non singular surface $S$. We compute Betti numbers of the relative Hilbert scheme of points of $S$ relative to $D$. In the case of $\PP^2$ and a line in it, we give an explicit set of generators and…

Algebraic Geometry · Mathematics 2018-05-01 Iman Setayesh

We show that there is a smooth complex projective variety, of any dimension greater than or equal to two, whose automorphism group is discrete and not finitely generated. Moreover, this variety admits infinitely many real forms which are…

Algebraic Geometry · Mathematics 2019-05-29 Tien-Cuong Dinh , Keiji Oguiso

On a weighted projective surface $\mathbb{P}(a,b,c)$ with $\min(a,b,c)\leq 4$, we compute lower bounds for the {\em effective threshold} of an ample divisor, in other words, the highest multiplicity a section of the divisor can have at a…

Algebraic Geometry · Mathematics 2020-11-23 David McKinnon , Rindra Razafy , Matthew Satriano , Yuxuan Sun

We study singularity of effective $\mathbb{Q}$-divisors on products of projective spaces of multidegree $(1,1...,1).$ This generalizes works of Bath, Musta{\c{t}}{\u{a}} and Walther on singularity of square-free polynomials. We also give a…

Algebraic Geometry · Mathematics 2025-05-05 Supravat Sarkar

Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…

Robotics · Computer Science 2022-07-04 Kevin Tracy , Taylor A. Howell , Zachary Manchester

First we refine the duality theory for Witt divisorial sheaves on smooth projective varieties over a perfect field of positive characteristic. Building on previous work [Lem22], we remove the residual derived limit to obtain a cleaner…

Algebraic Geometry · Mathematics 2025-10-06 Niklas Lemcke