相关论文: All paths admit trajectoids

A geometric p-rough path can be seen to be a genuine path of finite p-variation with values in a Lie group equipped with a natural distance. The group and its distance lift (R^{d},+,0) and its Euclidean distance. This approach allows us to…

The Path Contraction and Cycle Contraction problems take as input an undirected graph $G$ with $n$ vertices, $m$ edges and an integer $k$ and determine whether one can obtain a path or a cycle, respectively, by performing at most $k$ edge…

In this paper we overview the theory of conics and roulettes in four non-Euclidean planes. We collect the literature about these classical concepts, from the eighteenth century to the present, including papers available only on arXiv. The…

Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…

There are many four vertex type theorems appearing in the literature, coming in both smooth and discrete flavors. The most familiar of these is the classical theorem in differential geometry, which states that the curvature function of a…

We solve the so far open problem of constructing all spatial rational curves with rational arc length functions. More precisely, we present three different methods for this construction. The first method adapts a recent approach of (Kalkan…

Classical path search assumes complete graphs and scalar optimization metrics, yet real infrastructure networks are incomplete and require multi-dimensional evaluation. We introduce the concept of traversal: a generalization of paths that…

Mathematical billiards is much like the real game: a point mass, representing the ball, rolls in a straight line on a (perfectly friction-less) table, striking the sides according to the law of reflection. A billiard trajectory is then…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

Andreka and her colleagues have described various geometrically inspired first-order theories of special and general relativity, while Szekely's PhD dissertation focuses on an intermediate logic of accelerated observers. In this paper we…

We show that closed surfaces with minimal total absolute curvature in Cartan-Hadamard 3-manifolds bound flat convex bodies. This generalizes Chern-Lashof's theorem for surfaces in Euclidean space and solves a problem posed by Gromov in…

We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…

A topological approach and understanding to the detection of unstable periodic orbits based on a recently proposed method (PRL 78, 4733 (1997)) is developed. This approach provides a classification of the set of transformations necessary…

We derive a numerical criterion for J-holomorphic curves in 4-dimensional symplectic cobordisms to achieve transversality without any genericity assumption. This generalizes results of Hofer-Lizan-Sikorav and Ivashkovich-Shevchishin to…

Consider a collection of points in the plane and the sets of slopes or directions of the lines between pairs of points. It is known that the algebraic matroid on the set of direction constraints between the points is equivalent to the…

Due to Poinsot's theorem, the motion of a rigid body about a fixed point is represented as rolling without slipping of the moving hodograph of the angular velocity over the fixed one. If the moving hodograph is a closed curve, visualization…

Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…

In this paper we prove that any Riemannian surface, with no restriction of curvature at all, can be decomposed into blocks belonging just to some of these types: generalized Y-pieces, generalized funnels and halfplanes.

We introduce a notion of rough paths on embedded submanifolds and demonstrate that this class of rough paths is natural. On the way we develop a notion of rough integration and an efficient and intrinsic theory of rough differential…

This paper is a very brief and gentle introduction to non-commutative geometry geared primarily towards physicists and geometers. It starts with a brief historical description of the motivation for non-commutative geometry and then goes on…