arXiv research

Study rolling control of Lorentzian manifolds on flat space.

Rolling systems limit to billiard models with no-slip collisions.

Study on rolling of 2D and 3D manifolds, identifying orbit dimensions.

We study the rolling of the Chaplygin ball in $\mathbb R^n$ over a fixed $(n-1)$--dimensional sphere without slipping and without slipping and twisting. The problems can be naturally considered within a framework of appropriate modifications of the L+R and LR systems -- well known systems on Lie groups groups with an i…

We present an intrinsic formulation of the kinematic problem of two $n-$dimensional manifolds rolling one on another without twisting or slipping. We determine the configuration space of the system, which is an $\frac{n(n+3)}2-$dimensional manifold. The conditions of no-twisting and no-slipping are decoded by means of …

We study a rolling model from the perspective of probability. More precisely, we consider a Riemannian manifold rolling against Euclidean space, where the rolling is coupled with random slipping and twisting. The system is modelled by a stochastic differential equation of Stratonovich-type driven by semimartingales, on…

Study on rolling Stiefel manifolds with specific metrics.

Dancing polygons and rolling balls linked via a special geometric distribution.

In the present paper, we study the infinitesimal symmetries of the model of two Riemannian manifolds $(M,g)$ and $(\hat M,\hat g)$ rolling without twisting or slipping. We show that, under certain genericity hypotheses, the natural bundle projection from the state space $Q$ of the rolling model onto $M$ is a principal …

A well-known and interesting family of sub-Riemannian space are the systems involving two balls rolling against each other without slipping or twisting. In this note, we show how the sub-Riemannian geodesics of these space, when the two balls are embedded in $\mathbb{R}^3 \times \mathbb{R}^3$, are horizontal curves on …

We give a description of Nurowski's conformal structure for some examples of bracket-generating rank 2 distributions in dimension 5, aka $(2,3,5)$-distributions, namely the An-Nurowski circle twistor distribution for pairs of surfaces of constant Gauss curvature rolling without slipping or twisting over each other. In …

We study the control system of a Riemannian manifold $M$ of dimension $n$ rolling on the sphere $S^n$. The controllability of this system is described in terms of the holonomy of a vector bundle connection which, we prove, is isomorphic to the Riemannian holonomy group of the cone $C(M)$ of $M$. Using Berger's list, we…

In this paper, we consider two cases of rolling of one smooth connected complete Riemannian manifold $(M,g)$ onto another one $(\hM,\hg)$ of equal dimension $n\geq 2$. The rolling problem $(NS)$ corresponds to the situation where there is no relative spin (or twist) of one manifold with respect to the other one. As for…

New kinematic model for a spin-rolling sphere using Darboux frame.

We relate a Chaplygin type system to a Cartan decomposition of a real semi-simple Lie group. The resulting system is described in terms of the structure theory associated to the Cartan decomposition. It is shown to possess a preserved measure and when internal symmetries are present these are factored out via a process…

ERDM integrates rolling forecasts with diffusion models for complex dynamics.

A new compressed sensing system speeds up PSTE detection.

We describe how the dynamical system of rolling two $n$-dimensional connected, oriented Riemannian manifolds $M$ and $\hat M$ without twisting or slipping, can be lifted to a nonholonomic system of elements in the product of the oriented orthonormal frame bundles belonging to the manifolds. By considering the lifted pr…

Study on relativistic nonholonomic mechanics with time-dependent constraints.

The paper analyzes profitable bidding strategies for BESS in day-ahead and intraday markets.

Robotics: Rolling robots on a moving platform can be controlled.

Given a submersion $π:Q \to M$ with an Ehresmann connection $\mathcal{H}$, we describe how to solve Hamiltonian systems on $M$ by lifting our problem to $Q$. Furthermore, we show that all solutions of these lifted Hamiltonian systems can be described using the original Hamiltonian vector field on $M$ along with a gener…

On a natural circle bundle T(M) over a 4-dimensional manifold M equipped with a split signature metric g, whose fibers are real totally null selfdual 2-planes, we consider a tautological rank 2 distribution D obtained by lifting each totally null plane horizontally to its point in the fiber. Over the open set where g i…

Explains rolling of symmetric spaces on flat spaces.

A new model for curves on manifolds using rolling operations.

The Blaschke rolling disk theorem is extended to non-convex domains.

Local equivalence found between maximally symmetric rolling and flat Cartan distributions.

Generalized Blaschke rolling theorem for curved spaces.

Paper extends Noether's Theorem to nonholonomic systems, proving conserved momentum.

Rolling two hyperboloid surfaces is described using a Monge normal form.

New geometric approach controls motion of a spinning sphere on a plane.

Explicitly taking into account the risk incurred when borrowing at a shorter tenor versus lending at a longer tenor ("roll-over risk"), we construct a stochastic model framework for the term structure of interest rates in which a frequency basis (i.e. a spread applied to one leg of a swap to exchange one floating inter…

Shapes can roll downhill following any curve, but often return to initial orientation after crossing multiple copies.

In the present work we define the rolling of one pseudo-Riemannian manifold over another without slipping and twisting. We compare the definition of the rolling without slipping and twisting of two manifolds isometrically embedded into a pseudo-Euclidean space with the rolling defined only by the intrinsic data, namely…

Rollings of reductive homogeneous spaces are studied using intrinsic curves.

New method for rolling bodies on inclined planes, with applications to rescue operations.

Paper analyzes dynamics of nonholonomic systems with collisions using variational techniques.

We give a complete answer to the question of when two curves in two different Riemannian manifolds can be seen as trajectories of rolling one manifold on the other without twisting or slipping. We show that up to technical hypotheses, a rolling along these curves exists if and only if the geodesic curvatures of each cu…

Given any smooth plane curve α(s)representing a mirror that reflects light the usual way and any radiant light source at a point in the plane, the reflected light will produce a caustic envelope. For such an envelope, we show that there is an associated curve \b{eta}(s) and a family of circles C(s) that roll on \b{eta}…

In the present paper we give a historical account -ranging from classical to modern results- of the problem of rolling two Riemannian manifolds one on the other, with the restrictions that they cannot instantaneously slip or spin one with respect to the other. On the way we show how this problem has profited from the d…

In spite of the growing theoretical literature on cascades of failures in interbank lending networks, empirical results seem to suggest that networks of direct exposures are not the major channel of financial contagion. In this paper we show that networks of interbank exposures can however significantly amplify contagi…

In the last two decades, significant effort has been put in understanding and designing so-called structure-preserving numerical methods for the simulation of mechanical systems. Geometric integrators attempt to preserve the geometry associated to the original system as much as possible, such as the structure of the co…

In this paper we bring to bear some new tools from statistical learning on the analysis of roll call data. We present a new data-driven model for roll call voting that is geometric in nature. We construct the model by adapting the "Partition Decoupling Method," an unsupervised learning technique originally developed fo…

We use the methods of geometric control theory to study extremal trajectories of vertical rolling disk. We focus on the role of symmetries of the underlying geometric structures. We demonstrate the computations in the CAS Maple package DifferentialGeometry.

New definition of Bäcklund transformation for surface isometric deformation.

Study maximally symmetric distribution of An-Nurowski surface rolling on a plane.

Rolling Diffusion improves video prediction by progressively corrupting frames based on their temporal position.

The paper uses stochastic control to analyze interest rate markets with roll-over risk.