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It is well known that the P3P problem could have 1, 2, 3 and at most 4 positive solutions under different configurations among its 3 control points and the position of the optical center. Since in any real applications, the knowledge on the…
Traditionally, the P3P problem is solved by firstly transforming its 3 quadratic equations into a quartic one, then by locating the roots of the resulting quartic equation and verifying whether a root does really correspond to a true…
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…
The Perspective-Three-Point Problem (P3P) is solved by first focusing on determining the directions of the lines through pairs of control points, relative to the camera, rather than the distances from the camera to the control points. The…
The Orbit Problem consists of determining, given a matrix $A\in \mathbb{R}^{d\times d}$ and vectors $x,y\in \mathbb{R}^d$, whether there exists $n\in \mathbb{N}$ such that $A^n=y$. This problem was shown to be decidable in a seminal work of…
The Continuous p-Dispersion Problem (CpDP) with boundary constraints asks for the placement of a fixed number of points in a compact subset of Euclidean space such that the minimum distance between any two points, as well as the points and…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
The Hamiltonian cycle problem (HCP) in digraphs D with degree bound two is solved by two mappings in this paper. The first bijection is between an incidence matrix C_{nm} of simple digraph and an incidence matrix F of balanced bipartite…
Bifurcation problems in which periodic boundary conditions (PBC) or Neumann boundary conditions (NBC) are imposed often involve partial differential equations that have Euclidean symmetry. In this case posing the bifurcation problem with…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Various real-world problems consist of partitioning a set of locations into disjoint subsets, each subset spread in a way that it covers the whole set with a certain radius. Given a finite set S, a metric d, and a radius r, define a subset…
The Probabilistic p-Center problem under Pressure (Min PpCP) is a variant of the usual p-Center problem we recently introduced in the context of wildfire management. The problem is to locate p shelters minimizing the maximum distance people…
Safety is one of the fundamental challenges in control theory. Recently, multi-step optimal control problems for discrete-time dynamical systems were formulated to enforce stability, while subject to input constraints as well as…
A class of non-convex optimization problems with DC objective function is studied, where DC stands for being representable as the difference $f=g-h$ of two convex functions $g$ and $h$. In particular, we deal with the special case where one…
Throughout this paper, a persistence diagram ${\cal P}$ is composed of a set $P$ of planar points (each corresponding to a topological feature) above the line $Y=X$, as well as the line $Y=X$ itself, i.e., ${\cal P}=P\cup\{(x,y)|y=x\}$.…
We propose a conic transformation method to solve the Perspective-Three-Point (P3P) problem. In contrast to the current state-of-the-art solvers, which formulate the P3P problem by intersecting two conics and constructing a degenerate conic…
This article is aimed at studying the effects of the dimensional crossover (DC) on physical properties of condensed systems near phase transition and critical points. Here we consider the following problems: (1) the theoretical provisions…
Orthogonal surfaces are nice mathematical objects which have interesting connections to various fields, e.g., integer programming, monomial ideals and order dimension. While orthogonal surfaces in one or two dimensions are rather trivial…
We investigate the solutions to the Lorentz-Dirac equation and show that its solution flow has a structure identical to the one of renormalization group flows in critical phenomena. The physical solutions of the Lorentz-Dirac equation lie…
A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have shown that safety can be guaranteed by enforcing a suitable…