Concept

Conservative system

Publications associées (33)

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

2022

Invariant tori in dissipative hyperchaos

Tobias Schneider, Jeremy Peter Parker

One approach to understand the chaotic dynamics of nonlinear dissipative systems is the study of non-chaotic yet dynamically unstable invariant solutions embedded in the system's chaotic attractor. The significance of zero-dimensional unstable fixed points ...

AIP Publishing2022

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Vaibhav Gupta, Diego Felipe Paez Granados

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Asymptotic Errors for Teacher-Student Convex Generalized Linear Models (Or: How to Prove Kabashima’s Replica Formula)

Florent Gérard Krzakala, Alia Abbara

There has been a recent surge of interest in the study of asymptotic reconstruction performance in various cases of generalized linear estimation problems in the teacher-student setting, especially for the case of i.i.d standard normal matrices. Here, we g ...

2022

High-dimensional optimization under nonconvex excluded volume constraints

Antonio Sclocchi

We consider high-dimensional random optimization problems where the dynamical variables are subjected to nonconvex excluded volume constraints. We focus on the case in which the cost function is a simple quadratic cost and the excluded volume constraints a ...

AMER PHYSICAL SOC2022

A decomposition of multicorrelation sequences for commuting transformations along primes

Florian Karl Richter

A decomposition of multicorrelation sequences for commuting transformations along primes, Discrete Analysis 2021:4, 27 pp. Szemerédi's theorem asserts that for every positive integer

k

and every

\delta>0

there exists

n

such that every subset of ${1, ...

2021

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

Fluctuation Relations for Dissipative Systems in Constant External Magnetic Field: Theory and Molecular Dynamics Simulations

Sara Bonella, Alessandro Coretti

We illustrate how, contrary to common belief, transient Fluctuation Relations (FRs) for systems in constant external magnetic field hold without the inversion of the field. Building on previous work providing generalized time-reversal symmetries for syste ...

2021

Force Adaptation in Contact Tasks with Dynamical Systems

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...

2020

Multiple ergodic averages along functions from a Hardy field: convergence, recurrence and combinatorial applications

Florian Karl Richter

We obtain new results pertaining to convergence and recurrence of multiple ergodic averages along functions from a Hardy field. Among other things, we confirm some of the conjectures posed by Frantzikinakis in [Fra10; Fra16] and obtain combinatorial applic ...

2020

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A decomposition of multicorrelation sequences for commuting transformations along primes

Florian Karl Richter

A decomposition of multicorrelation sequences for commuting transformations along primes, Discrete Analysis 2021:4, 27 pp. Szemerédi's theorem asserts that for every positive integer

k

and every

\delta>0

there exists

n

such that every subset of ${1, ...

2021