arXiv research

Study optimal paths in Zermelo's navigation problem using geometric equations.

In this paper, we study Zermelo navigation on Riemannian manifolds and use that to solve a long standing problem in Finsler geometry. Namely, the complete classification of strongly convex Randers metrics of constant flag curvature.

New algorithms solve time-dependent navigation problems, including zig-zag paths.

The present paper studies globally defined Kropina metrics as solutions of the Zermelo's navigation problem. Moreover, we characterize the Kropina metrics of constant flag curvature showing that up to local isometry, there are only two model spaces of them: the Euclidean space and the odd-dimensional spheres.

Study examines how wind affects shortest paths on Finsler manifolds.

We generalize the Zermelo navigation problem and its solution on Riemannian manifolds $(M, h)$ admitting a space dependence of a ship's own speed $|u(x)|_h\leq1$ in the presence of a perturbation $W$ determined by a mild velocity vector field $|W(x)|_h<|u(x)|_h$, with application of Finsler metric of Randers type.

This study examines abnormal geodesics in 2D-Zermelo navigation problems, revealing their role in separating time minimal and maximal curves.

We generalize the Zermelo navigation problem and its solution on Riemannian manifolds $(M, h)$ admitting a space dependence of a ship's speed $0<|u(x)|_h\leq1$ in the presence of a perturbation $\tilde{W}$ determined by a strong velocity vector field satisfying $|\tilde{W}(x)|_h=|u(x)|_h$, with application of Finsler m…

Study of parabolas in Funk metric on unit disk.

Study geodesics on a special cylinder with arbitrary wind.

We generalize and study the Zermelo navigation problem on Hermitian manifolds in the presence of a perturbation $W$ determined by a mild complex velocity vector field $||W(z)||_h<||u(z)||_h$, with application of complex Finsler metric of complex Randers type. By admitting space-dependence of ship's relative speed $||u(…

Paper proves inequality linking capillary surfaces to Finsler geometry.

The goal of this paper is to describe Zermelo's navigation problem on Riemannian manifolds as a time-optimal control problem and give an efficient method in order to evaluate its control curvature. We will show that up to change the Riemannian metric on the manifold the control curvature of Zermelo's problem has a simp…

Solves time-optimal navigation on slippery slopes with cross gravitational wind.

The notion of wind Finslerian structure is developed; this is a generalization of Finsler metrics where the indicatrices at the tangent spaces may not contain the zero vector. In the particular case that these indicatrices are ellipsoids, called here wind Riemannian structures, they admit a double interpretation which …

Solves time-minimizing navigation on a mountain slope using Riemann-Finsler geometry.

Study on geodesics in Kropina metrics with applications.

We generalize the notion of Zermelo navigation to arbitrary pseudo-Finsler metrics possibly defined in conic subsets. The translation of a pseudo-Finsler metric $F$ is a new pseudo-Finsler metric whose indicatrix is the translation of the indicatrix of $F$ by a vector field $W$ at each point, where $W$ is an arbitrary …

In certain circumstances tools of Riemannian geometry are sufficient to address questions arising in the more general Finslerian context. We show that one such instance presents itself in the characterisation of geodesics in Randers spaces of constant flag curvature. To achieve a simple, Riemannian derivation of this s…

We consider remodeling the planar search patterns, in the presence of the river-type perturbation represented by the weak vector field, basing on the time-optimal paths as Finslerian solutions to the Zermelo navigation problem via Randers metric.

Introduce sub-Randers metrics by adding a one-form to a sub-Riemannian metric

We consider a triality between the Zermelo navigation problem, the geodesic flow on a Finslerian geometry of Randers type, and spacetimes in one dimension higher admitting a timelike conformal Killing vector field. From the latter viewpoint, the data of the Zermelo problem are encoded in a (conformally) Painleve-Gullst…

This work analyzes minimum-time navigation on Riemannian manifolds using Finsler geometry.

We consider the Zermelo navigation problem on the ellipsoid of revolution (spheroid) in the presence of a perturbation $W$ determined by a mild velocity vector field, $|W|<1$, with application of Finsler metric of Randers type in the context of the corresponding optimal control represented by a time-efficient ship's he…

In this paper, we investigate the holonomy structure of the most accessible and demonstrative 2-dimensional Finsler surfaces, the Randers surfaces. Randers metrics can be considered as the solutions of the Zermelo navigation problem. We give the classification of the holonomy groups of locally projectively flat Randers…

Describes links between Finsler and Lorentz geometries for Riemannian geometers.

We show how geodesics, Jacobi vector fields and flag curvature of a Finsler metric behave under Zermelo deformation with respect to a Killing vector field. We also show that Zermelo deformation with respect to a Killing vector field of a locally symmetric Finsler metric is also locally symmetric.

A systematic study of (smooth, strong) cone structures $\C$ and Lorentz-Finsler metrics $L$ is carried out. As a link between both notions, cone triples $(Ω,T, F)$, where $Ω$ (resp. $T$) is a 1-form (resp. vector field) with $Ω(T)\equiv 1$ and $F$, a Finsler metric on $\ker (Ω)$, are introduced. Explicit descriptions o…

Paper finds flag curvature of submanifolds in Randers-Minkowski space using Zermelo data.

Study proves existence of multiple geodesics in a specific metric space.

Generalizes Fermat's principle for wave propagation in cone structures.

A faster algorithm for ranking from pairwise comparisons.

Recently, wind Riemannian structures (WRS) have been introduced as a generalization of Randers and Kropina metrics. They are constructed from the natural data for Zermelo navigation problem, namely, a Riemannian metric $g_R$ and a vector field $W$ (the wind), where, now, the restriction of mild wind $g_R(W,W)<1$ is dro…

Study on bifurcations in Lagrangian systems and geodesics on manifolds.

Introduces a natural parallel translation for navigation data.

Challenge to separate Earth's magnetic field from vehicle's magnetic field for accurate navigation.

Most common navigation tasks in human environments require auxiliary arm interactions, e.g. opening doors, pressing buttons and pushing obstacles away. This type of navigation tasks, which we call Interactive Navigation, requires the use of mobile manipulators: mobile bases with manipulation capabilities. Interactive N…

Navigation in Lorentz Finsler geometry induces isoparametric hypersurfaces.

The paper solves navigation problems on conic Kropina manifolds and establishes curvature relationships.

Robotic navigation improves with RL and ultrasound images.

Improved robot navigation using multi-head attention for natural language instructions.

We obtain a result about the existence of only a finite number of geodesics between two fixed non-conjugate points in a Finsler manifold endowed with a convex function. We apply it to Randers and Zermelo metrics. As a by-product, we also get a result about the finiteness of the number of lightlike and timelike geodesic…

The problem of pursuing a moving target is always one of the main topics in navigation. In the literatures, there are two well-known algorithms called Pure Pursuit and Pure Rendezvous navigation in the 3-dimensional space $\mathbb{R}^3$. In this paper, these two methods are combined to introduce a novel family of pursu…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and high-dimensionality of sensorimotor spaces which are inherent in such problems. We present a nov…

SLAM-net learns to navigate visually in challenging indoor environments.

Improves AI agents' 3D navigation by learning from failures and 3D spatial relationships.

Bayesian model for energy consumption helps electric vehicles navigate efficiently.

Deep learning agent improves pedestrian navigation in urban environments.