相关论文: The dynamics of an articulated $n$-trailer vehicle

Articulated multi-axle vehicles are interesting from a control-theoretic perspective due to their peculiar kinematic offtracking characteristics, instability modes, and singularities. Holonomic and nonholonomic constraints affecting the…

The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based trajectory planner targeting low-speed maneuvers in unstructured…

We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…

Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies may exceed its assigned drive lane, resulting in an…

Eight different refinements of trapped surfaces are proposed, of three basic types, each intended as potential stability conditions. Minimal trapped surfaces are strictly minimal with respect to the dual expansion vector. Outer trapped…

For the autonomous operation of articulated vehicles at distribution centers, accurate positioning of the vehicle is of the utmost importance. Automation of these vehicle poses several challenges, e.g. large swept path, asymmetric steering…

We study the motion of surfaces in an intrinsic formulation in which the surface is described by its metric and curvature tensors. The evolution equations for the six quantities contained in these tensors are reduced in number in two cases:…

We consider the problem of controlling a vehicle to arrive at a fixed destination while minimizing a combination of energy consumption and travel time. Our model includes vehicle speed and accelaration limits, aerodynamic drag, rolling…

We have previously shown an analysis of our dimer model in the over-damped regime to show directed transport in equilibrium. Here we analyze the full model with inertial terms present to establish the same result. First we derive the…

We show that transport in the presence of entropic barriers exhibits peculiar characteristics which makes it distinctly different from that occurring through energy barriers. The constrained dynamics yields a scaling regime for the particle…

Any control law for aircraft asymptotic stabilization requires the existence of an equilibrium condition, also called trim flight condition. At a constant velocity flight, for instance, there must exist an aircraft orientation such that…

Present work deals with the dynamics of vehicles which intentionally operate in the ground proximity. The dynamics in ground effect is influenced by the vehicle orientation with respect to the ground, since the aerodynamic force and moment…

Various many-body models are treated, which describe $N$ points confined to move on a plane circle. Their Newtonian equations of motion ("accelerations equal forces") are integrable, i. e. they allow the explicit exhibition of $N$ constants…

An important methodological problem of theoretical mechanics related to inertia is discussed. Analysis Inertia is performed in four-dimensional Minkowski space-time based on the law of conservation of energy-momentum. This approach allows…

Important information about the dynamical structure of a differential system can be revealed by looking into its invariant compact manifolds, such as equilibria, periodic orbits, and invariant tori. This knowledge is significantly increased…

We study a subsystem of an isolated one-dimensional correlated metal when it is driven by a steady electric field or when it relaxes after driving. We obtain numerically exact reduced density matrix $\rho$ for subsystems which are…

Classical dynamical equations describing a certain version of the nonHamiltonian interaction of two rotators (Euler tops with completely degenerate inertia tensors) are considered. The simplest case is integrated. It is shown that the…

Constraints imposed directly on accelerations of the system leading to the relation of constants of motion with appropriate local projectors occurring in the derived equations are considered. In this way a generalization of the Noether's…

Expositions of the Euler equations for the rotation of a rigid body often invoke the idea of a specially damped system whose energy dissipates while its angular momentum magnitude is conserved in the body frame. An attempt to explicitly…

Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each vehicle tilts to generate the forces that…