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A continuation method for motion-planning problems

Yacine Chitour (2006)

ESAIM: Control, Optimisation and Calculus of Variations

We apply the well-known homotopy continuation method to address the motion planning problem (MPP) for smooth driftless control-affine systems. The homotopy continuation method is a Newton-type procedure to effectively determine functions only defined implicitly. That approach requires first to characterize the singularities of a surjective map and next to prove global existence for the solution of an ordinary differential equation, the Wazewski equation. In the context of the MPP, the aforementioned...

A continuation method for motion-planning problems

Yacine Chitour (2005)

ESAIM: Control, Optimisation and Calculus of Variations

We apply the well-known homotopy continuation method to address the motion planning problem (MPP) for smooth driftless control-affine systems. The homotopy continuation method is a Newton-type procedure to effectively determine functions only defined implicitly. That approach requires first to characterize the singularities of a surjective map and next to prove global existence for the solution of an ordinary differential equation, the Wazewski equation. In the context of the MPP, the aforementioned...

A generalized sharp Whitney theorem for jets.

Charles Fefferman (2005)

Revista Matemática Iberoamericana

Suppose that, for each point x in a given subset E ⊂ Rn, we are given an m-jet f(x) and a convex, symmetric set σ(x) of m-jets at x. We ask whether there exist a function F ∈ Cm,w(Rn) and a finite constant M, such that the m-jet of F at x belongs to f(x) + Mσ(x) for all x ∈ E. We give a necessary and sufficient condition for the existence of such F, M, provided each σ(x) satisfies a condition that we call "Whitnet w-convexity".

A generic condition implying o-minimality for restricted C -functions

Olivier Le Gal (2010)

Annales de la faculté des sciences de Toulouse Mathématiques

We prove that the expansion of the real field by a restricted C -function is generically o-minimal. Such a result was announced by A. Grigoriev, and proved in a different way. Here, we deduce quasi-analyticity from a transcendence condition on Taylor expansions. This then implies o-minimality. The transcendance condition is shown to be generic. As a corollary, we recover in a simple way that there exist o-minimal structures that doesn’t admit analytic cell decomposition, and that there exist incompatible...

A global analysis of Newton iterations for determining turning points

Vladimír Janovský, Viktor Seige (1993)

Applications of Mathematics

The global convergence of a direct method for determining turning (limit) points of a parameter-dependent mapping is analysed. It is assumed that the relevant extended system has a singular root for a special parameter value. The singular root is clasified as a b i f u r c a t i o n s i n g u l a r i t y (i.e., as a d e g e n e r a t e turning point). Then, the Theorz for Imperfect Bifurcation offers a particular scenario for the split of the singular root into a finite number of regular roots (turning points) due to a given parameter imperfection. The relationship...

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