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Optimal control of geodesics in Riemannian manifolds

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Learning Task-Space Synergies using Riemannian Geometry

Sylvain Calinon

In the context of robotic control, synergies can form an elementary unit of behavior. By specifying task-dependent coordination behaviors at a low control level, one can achieve task-specific disturbance rejection. In this work we present an approach to le ...

IEEE2017

The Myers-Steenrod Theorem For Finsler Manifolds Of Low Regularity

Marc Troyanov

We prove a version of Myers-Steenrod's theorem for Finsler manifolds under the minimal regularity hypothesis. In particular we show that an isometry between C-k,C-alpha-smooth (or partially smooth) Finsler metrics, with k + alpha > 0, k is an element of N ...

Amer Mathematical Soc2017

Bi-Jacobi Fields And Riemannian Cubics For Left-Invariant SO(3)

Tudor Ratiu

Bi-Jacobi fields are generalized Jacobi fields, and are used to efficiently compute approximations to Riemannian cubic splines in a Riemannian manifold M. Calculating bi-Jacobi fields is straightforward when M is a symmetric space such as bi-invariant SO(3 ...

Int Press Boston, Inc2016

Codimension one stability of the catenoid under the vanishing mean curvature flow in Minkowski space

Joachim Krieger, Roland Donninger, Willie Wai Yeung Wong

We study time-like hypersurfaces with vanishing mean curvature in the (3+1) dimensional Minkowski space, which are the hyperbolic counterparts to minimal embeddings of Riemannian manifolds. The catenoid is a stationary solution of the associated Cauchy pro ...

Duke Univ Press2015

Stability and Performance Verification of Optimization-based Controllers

Colin Neil Jones, Milan Korda

This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed technique include g ...

2015

Dynamics of particles with anisotropic mass depending on time and position

Tudor Ratiu

Representations of solutions of equations describing the diffusion and quantum dynamics of particles in a Riemannian manifold are discussed under the assumption that the mass of particles is anisotropic and depends on both time and position. These equation ...

Springer Verlag2015

The geometry of the universal Teichmuller space and the Euler-Weil-Petersson equation

Tudor Ratiu, François Gay-Balmaz

On the identity component of the universal Teichmuller space endowed with the Takhtajan-Teo topology, the geodesics of the Weil Petersson metric are shown to exist for all time. This component is naturally a subgroup of the quasisymmetric homeomorphisms of ...

Elsevier2015

Principal Flows

Victor Panaretos, Tung Huy Pham, Zhigang Yao

We revisit the problem of extending the notion of principal component analysis (PCA) to multivariate datasets that satisfy nonlinear constraints, therefore lying on Riemannian manifolds. Our aim is to determine curves on the manifold that retain their cano ...

American Statistical Association2014

Harmonic Active Contours

Jean-Philippe Thiran, Xavier Bresson, Dominique Zosso, Virginia Estellers Casas

We propose a segmentation method based on the geometric representation of images as two-dimensional manifolds embedded in a higher dimensional space. The segmentation is formulated as a minimization problem, where the contours are described by a level set ...

Institute of Electrical and Electronics Engineers2014

Tangent space estimation for smooth embeddings of Riemannian manifolds

Pascal Frossard, Elif Vural, Hemant Tyagi

Numerous dimensionality reduction problems in data analysis involve the recovery of low-dimensional models or the learning of manifolds underlying sets of data. Many manifold learning methods require the estimation of the tangent space of the manifold at a ...

2013