Many problems in robotics are fundamentally problems of geometry, which have led to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie algebra, and d ...
We extend the group-theoretic notion of conditional flatness for a localization functor to any pointed category, and investigate it in the context of homological categories and of semi-abelian categories. In the presence of functorial fiberwise localizatio ...
One approach for describing spatiotemporal chaos is to study the unstable invariant sets embedded in the chaotic attractor of the system. While equilibria, periodic orbits, and invariant tori can be computed using existing methods, the numerical identifica ...
Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...
We introduce a high-order spline geometric approach for the initial boundary value problem for Maxwell's equations. The method is geometric in the sense that it discretizes in structure preserving fashion the two de Rham sequences of differential forms inv ...
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...
We determine the bounded cohomology of the group of homeomorphisms of certain low-dimensional manifolds. In particular, for the group of orientation-preserving homeomorphisms of the circle and of the closed 2-disc, it is isomorphic to the polynomial ring g ...
The proton exchange membrane fuel cell (PEMFC) is an important technology for clean power generation in a decarbonized hydrogen system and is notably envisioned for applications in heavy-duty transportation. However, for cost and performance competitivenes ...
The sheaf-function correspondence identifies the group of constructible functions on a real analytic manifold M with the Grothendieck group of constructible sheaves on M. When M is a finite dimensional real vector space, Kashiwara-Schapira have recently in ...
Meta-learning is the core capability that enables intelligent systems to rapidly generalize their prior ex-perience to learn new tasks. In general, the optimization-based methods formalize the meta-learning as a bi-level optimization problem, that is a nes ...
Encoding quantum information onto bosonic systems is a promising route to quantum error correc-tion. In a cat code, this encoding relies on the confinement of the dynamics of the system onto the two-dimensional manifold spanned by Schrodinger cats of oppos ...
