相关论文: Sub--Riemannian boundary value problems for Optima…
A theoretical, and potentially also practical, problem with stochastic gradient descent is that trajectories may escape to infinity. In this note, we investigate uniform boundedness properties of iterates and function values along the…
The capability of effectively moving on complex terrains such as sand and gravel can empower our robots to robustly operate in outdoor environments, and assist with critical tasks such as environment monitoring, search-and-rescue, and…
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed…
The dynamics of atmospheric disturbances are often described in terms of displacements of air parcels relative to their locations in a notional background state. Modified Lagrangian Mean (MLM) states have been proposed by M. E. McIntyre…
We study random walks on sub-Riemannian manifolds using the framework of retractions, i.e., approximations of normal geodesics. We show that such walks converge to the correct horizontal Brownian motion if normal geodesics are approximated…
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a…
The correlations in the motion of reptating polymers in their melt are investigated by means of kinetic Monte Carlo simulations of the three dimensional slithering snake version of the bond-fluctuation model. Surprisingly, the slithering…
In this paper we propose a method for computing the contour of an object in an image using a snake represented as a subdivision curve. The evolution of the snake is driven by its control points which are computed minimizing an energy that…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
The branching geometry of biological transport networks is characterized by a diameter scaling exponent $\alpha$. Two structural attractors compete: impedance matching ($\alpha \sim 2$) for pulsatile flow and viscous-metabolic minimization…
We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning. Given a snake-like robot with an initial position and a final position in an environment (modeled by a…
In this paper, we study the role of boundary conditions on the optimal shape of a dyadic tree in which flows a Newtonian fluid. Our optimization problem consists in finding the shape of the tree that minimizes the viscous energy dissipated…
Neuroscientific studies of drawing-like movements usually analyze neural representation of either geometric (eg. direction, shape) or temporal (eg. speed) features of trajectories rather than trajectory's representation as a whole. This…
We consider a viscoelastic body occupying a smooth bounded domain of $R^3$ under the effects of volumic traction forces. Inertial effects are considered: hence, the equation describing the evolution of displacements is of the second order…
This paper investigates a variational model for splines in the image metamorphosis model for the smooth interpolation of key frames in the space of images. The Riemannian manifold of images based on the metamorphosis model defines shortest…
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…
We consider cost minimizing stopping time solutions to Skorokhod embedding problems, which deal with transporting a source probability measure to a given target measure through a stopped Brownian process. PDEs and a free boundary problem…
We show that when a dynamic-weight AMM rebalances by creating arbitrage opportunities, the per-step log loss is the KL divergence between successive weight vectors. The Fisher-Rao metric is therefore the natural Riemannian metric on the…
A new geometrically conservative arbitrary Lagrangian-Eulerian (ALE) formulation is presented for the moving boundary problems in the swirl-free cylindrical coordinates. The governing equations are multiplied with the radial distance and…
Posing Kepler's problem of motion around a fixed "sun" requires the geometric mechanician to choose a metric and a Laplacian. The metric provides the kinetic energy. The fundamental solution to the Laplacian (with delta source at the "sun")…