arXiv research

The paper studies how points and lines can move while preserving incidences.

New matrices link point motions to braid groups.

Study motion planning for points avoiding obstacles in a plane.

New method studies moving points on curves using rotating frames.

Geodesics in R^n configuration spaces for points apart by epsilon.

In this study, the concept of dual Lorentzian homotetic exponential motions in is discussed and their velocities, accelerations obtained. Also, some geometric results between velocity and acceleration vectors of a point in a spatial motion are obtained. Finally, the theorems related to acceleration and acceleration cen…

Motor control is a set of time-varying muscle excitations which generate desired motions for a biomechanical system. Muscle excitations cannot be directly measured from live subjects. An alternative approach is to estimate muscle activations using inverse motion-driven simulation. In this article, we propose a deep rei…

Survey on manifold complexities and motion planning in robotics.

Non-Markovian point process shows power-law scaling, similar to nonlinear Markovian process.

Order patterns and permutation entropy have become useful tools for studying biomedical, geophysical or climate time series. Here we study day-to-day market data, and Brownian motion which is a good model for their order patterns. A crucial point is that for small lags (1 up to 6 days), pattern frequencies in financial…

Poisson plane and sphere --- homogeneous spaces of Poisson groups E(2) and SU(2) (resp.) --- have phase spaces (corresponding symplectic groupoids), in which a free Hamiltonian is naturally defined. We solve the equations of motion and point out some unexpected features: free motion on the plane is bounded (periodic) a…

Interactive art piece shows braid groups and plane motions.

Deep neural networks predict prostate motion from MR images.

Paper introduces TAP-Vid, a benchmark for tracking any point in videos.

In this paper, we compute sub-Riemannian limits of Gaussian curvature for a Euclidean $C^2$-smooth surface in the affine group and the group of rigid motions of the Minkowski plane away from characteristic points and signed geodesic curvature for Euclidean $C^2$-smooth curves on surfaces. We get Gauss-Bonnet theorems i…

We design an algorithm writing down presentations of graph braid groups. Generators are represented in terms of actual motions of robots moving without collisions on a given graph. A key ingredient is a new motion planning algorithm whose complexity is linear in the number of edges and quadratic in the number of robots…

Suppose curves are moving by curvature in a plane, but one embeds the plane in $R^3$ and looks at the plane from an angle. Then circles shrinking to a round point would appear to be ellipses shrinking to an ``elliptical point,'' and the surface energy would appear to be anisotropic as would the mobility. The result of …

Uniqueness of nondegenerate blowups for planar networks shown.

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases exponentially with the dimensionality of the motion planning problem. To address this issue…

Geometric approach improves motion alignment accuracy and efficiency.

We consider a one-parameter family of Grushin-type singularities on surfaces, and discuss the possible diffusions that extend Brownian motion to the singularity. This gives a quick proof and clear intuition for the fact that heat can only cross the singularity for an intermediate range of the parameter. When crossing i…

The paper derives Gauss-Bonnet theorems for deformed connections in affine and rigid motions groups.

Estimation of facial expressions, as spatio-temporal processes, can take advantage of kernel methods if one considers facial landmark positions and their motion in 3D space. We applied support vector classification with kernels derived from dynamic time-warping similarity measures. We achieved over 99% accuracy - measu…

In this article, we will formulate a mathematical framework that allows us to treat character animations as points on infinite dimensional Hilbert manifolds. Constructing geodesic paths between animations on those manifolds allows us to derive a distance function to measure similarities of different motions. This appro…

Paper computes motion groups of links using TQFTs, proving a conjecture.

We investigate a class of optimal stopping problems arising in, for example, studies considering the timing of an irreversible investment when the underlying follows a skew Brownian motion. Our results indicate that the local directional predictability modeled by the presence of a skew point for the underlying has a no…

We give an elementary derivation of the Montgomery phase formula for the motion of an Euler top, using only basic facts about the Euler equation and parallel transport on the 2-sphere (whose holonomy is seen to be responsible for the geometric phase). We also give an approximate geometric interpretation of the geometri…

Study Brownian motion on Grassmann manifold using matrix stochastic calculus.

We study the motion of a charge on a conformally flat Riemannian torus in the presence of magnetic field. We prove that for any non-zero magnetic field there always exist orbits of this motion which have conjugate points. We conjecture that the restriction of conformal flatness of the metric is not essential for this r…

PBCS combines RL and motion planning for better exploration.

Study on the geometric Dyson Brownian motion of non-square matrix products.

We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space. The final goal is to construct an algorithm which will perform this task once th…

New proof shows nonholonomic motions are geodesics, minimizing distance.

The field of multiple view geometry has seen tremendous progress in reconstruction and calibration due to methods for extracting reliable point features and key developments in projective geometry. Point features, however, are not available in certain applications and result in unstructured point cloud reconstructions.…

We describe the curves of constant (geodesic) curvature and torsion in the three-dimensional round sphere. These curves are the trajectory of a point whose motion is the superposition of two circular motions in orthogonal planes. The global behavior may be periodic or the curve may be dense in a Clifford torus embedded…

We consider a general class of continuous asset price models where the drift and the volatility functions, as well as the driving Brownian motions, change at a random time $τ$. Under minimal assumptions on the random time and on the driving Brownian motions, we study the behavior of the model in all the filtrations whi…

mmFall detects falls using mmWave radar and a hybrid VRAE, achieving high accuracy.

We propose a method to classify cardiac pathology based on a novel approach to extract image derived features to characterize the shape and motion of the heart. An original semi-supervised learning procedure, which makes efficient use of a large amount of non-segmented images and a small amount of images segmented manu…

We rephrase the problem of 3D reconstruction from images in terms of intersections of projections of orbits of custom built Lie groups actions. We then use an algorithmic method based on moving frames "a la Fels-Olver" to obtain a fundamental set of invariants of these groups actions. The invariants are used to define …

Existence of Q-processes for Brownian motion on hyperbolic spaces with Poissonian potentials shown.

Proposes a new convolutional neural network for non-grid data.

BootsTAP uses real-world data to improve TAP tracking performance.

The study identifies conjugate and cut points in ideal fluid motion configurations.

Using the basic Lie symmetry method, we find the most general Lie point symmetries group of the $\nabla u=f(u)$ Poisson's equation, which has a subalgebra isomorphic to the $3-$dimensional special Euclidean group ${\rm SE}(3)$ or group of rigid motions of ${\Bbb R}^3$. Looking the adjoint representation of ${\rm SE}(3)…

The topological complexity TC(X) is a numerical homotopy invariant of a topological space X which is motivated by robotics and is similar in spirit to the classical Lusternik-Schnirelmann category of X. Given a mechanical system with configuration space X, the invariant TC(X) measures the complexity of all possible mot…

We propose in this paper a constructive procedure that transforms locally, even at singular configurations, the kinematics of a car towing trailers into Kumpera-Ruiz normal form. This construction converts the nonholonomic motion planning problem into an algebraic problem (the resolution of a system of polynomial equat…

Fixed points of Minkowski valuations are found in specific ball neighborhoods.

In considering the mathematical problem of describing the geodesics on a torus or any other surface of revolution, there is a tremendous advantage in conceptual understanding that derives from taking the point of view of a physicist by interpreting parametrized geodesics as the paths traced out in time by the motion of…