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We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…
A 3-parameter family of helical tubular surfaces obtained by screw revolving a circle provides a useful pedagogical example of how to study geodesics on a surface that admits a 1-parameter symmetry group, but is not as simple as a surface…
The invention of non-Euclidean geometries is often seen through the optics of Hilbertian formal axiomatic method developed later in the 19th century. However such an anachronistic approach fails to provide a sound reading of Lobachevsky's…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…
The principle that celestial bodies must move on circular orbits or on paths resulting from the composition of circular orbits has been assumed as a constant guide in the astronomical thougth of the peoples facing the Mediterranean sea as…
The primary aim of this paper is to provide a simple and concrete interpretation of Cartan geometry in terms of the mathematics of idealized waywisers. Waywisers, also called hodometers, are instruments traditionally used to measure…
Mathematical objects are generally abstract and not very approachable. Illustrations and interactive visualizations help both students and professionals to comprehend mathematical material and to work with it. This approach lends itself…
The computation of tunes and matched beam distributions are essential steps in the analysis of circular accelerators. If certain symmetries - like midplane symmetrie - are present, then it is possible to treat the betatron motion in the…
Elliptic homogenization is used to determine coarse-grained properties of materials with features on small scales for heat transfer and elasticity. When microstructural features of a material have rapid, periodic fluctuations, the solution…
This work introduces a novel path-following control strategy inspired by the famous two-body problem, aiming to stabilize any Keplerian orbit. Utilizing insights from the mathematical structure of the two-body problem, we derive a robust…
A Hamilton cycle in a digraph is a cycle that passes through all the vertices, where all the arcs are oriented in the same direction. The problem of finding Hamilton cycles in directed graphs is well studied and is known to be hard. One of…
We propose a holographic map between Einstein gravity coupled to matter in a de Sitter background and large N quantum mechanics of a system of spins. Holography maps a spin model with a finite dimensional Hilbert space defined on a version…
This work presents a geometric formulation for transforming nonconservative mechanical Hamiltonian systems and introduces a new method for regularizing and linearizing central force dynamics -- in particular, Kepler and Manev dynamics --…
In most text books of mechanics, Newton's laws or Hamilton's equations of motion are first written down and then solved based on initial conditions to determine the constants of the motions and to describe the trajectories of the particles.…
A Hamiltonian decomposition of a regular graph is a partition of its edge set into Hamiltonian cycles. The problem of finding edge-disjoint Hamiltonian cycles in a given regular graph has many applications in combinatorial optimization and…
We present an elementary deduction of the Newtonian force from Kepler's laws. We relate it to a generalization by Jacobi of the Keplerian motion, where the Euclidean form in the plane is replaced by some function with the same homogeneity.…
Invariant manifolds are the skeleton of the chaotic dynamics in Hamiltonian systems. In Celestial Mechanics, for instance, these geometrical structures are applied to a multitude of physical and practical problems, such as to the…
Several dynamical systems of interest in celestial mechanics can be written in the form of a Newton equation with time-dependent damping, linear in the velocities. For instance, the modified Kepler problem, the spin-orbit model and the…
We introduce a new geometric framework for relativistic particle dynamics based on contact geometry and suitable for treating dissipative processes like particle decay. The dynamics is formulated on a nine--dimensional extended phase space…
After mathematicians and physicists had learned that the structure of physical space was not necessarily Euclidean, it became conceivable that the global topological structure of space was non-trivial. In the context of the late 19th…