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Planning Algorithms
, 2004
"... This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning ..."
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Cited by 1108 (51 self)
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This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning under uncertainty, sensorbased planning, visibility, decisiontheoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.
Unification and Matching modulo Nilpotence
 In Proc. CADE13, volume 1104 of LNCS
, 1996
"... . We consider equational unification and matching problems where the equational theory contains a nilpotent function, i.e., a function f satisfying f(x;x) = 0 where 0 is a constant. Nilpotent matching and unification are shown to be NPcomplete. In the presence of associativity and commutativity, t ..."
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Cited by 12 (1 self)
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. We consider equational unification and matching problems where the equational theory contains a nilpotent function, i.e., a function f satisfying f(x;x) = 0 where 0 is a constant. Nilpotent matching and unification are shown to be NPcomplete. In the presence of associativity and commutativity
Synchronization and linearity: an algebra for discrete event systems
, 2001
"... The first edition of this book was published in 1992 by Wiley (ISBN 0 471 93609 X). Since this book is now out of print, and to answer the request of several colleagues, the authors have decided to make it available freely on the Web, while retaining the copyright, for the benefit of the scientific ..."
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Cited by 369 (11 self)
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The first edition of this book was published in 1992 by Wiley (ISBN 0 471 93609 X). Since this book is now out of print, and to answer the request of several colleagues, the authors have decided to make it available freely on the Web, while retaining the copyright, for the benefit of the scientific community. Copyright Statement This electronic document is in PDF format. One needs Acrobat Reader (available freely for most platforms from the Adobe web site) to benefit from the full interactive machinery: using the package hyperref by Sebastian Rahtz, the table of contents and all LATEX crossreferences are automatically converted into clickable hyperlinks, bookmarks are generated automatically, etc.. So, do not hesitate to click on references to equation or section numbers, on items of thetableofcontents and of the index, etc.. One may freely use and print this document for one’s own purpose or even distribute it freely, but not commercially, provided it is distributed in its entirety and without modifications, including this preface and copyright statement. Any use of thecontents should be acknowledged according to the standard scientific practice. The
Nonholonomic motion planning: Steering using sinusoids
 IEEE fins. Auto. Control
, 1993
"... AbstractIn this paper, we investigate methods for steering systems with nonholonomic constraints between arbitrary configurations. Early work by Brockett derives the optimal controls for a set of canonical systems in which the tangent space to the configuration manifold is spanned by the input vec ..."
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Cited by 353 (15 self)
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AbstractIn this paper, we investigate methods for steering systems with nonholonomic constraints between arbitrary configurations. Early work by Brockett derives the optimal controls for a set of canonical systems in which the tangent space to the configuration manifold is spanned by the input vector fields and their first order Lie brackets. Using Brockett’s result as motivation, we derive suboptimal trajectories for systems which are not in canonical form and consider systems in which it takes more than one level of bracketing to achieve controllability. These trajectories use sinusoids at integrally related frequencies to achieve motion at a given bracketing level. We define a class of systems which can be steered using sinusoids (chained systems) and give conditions under which a class of twoinput systems can be converted into this form. I.
Superstrings and topological strings at large
 N”, J. Math. Phys
"... We embed the large N ChernSimons/topological string duality in ordinary superstrings. This corresponds to a large N duality between generalized gauge systems with N = 1 supersymmetry in 4 dimensions and superstrings propagating on noncompact CalabiYau manifolds with certain fluxes turned on. We a ..."
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Cited by 258 (27 self)
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We embed the large N ChernSimons/topological string duality in ordinary superstrings. This corresponds to a large N duality between generalized gauge systems with N = 1 supersymmetry in 4 dimensions and superstrings propagating on noncompact CalabiYau manifolds with certain fluxes turned on. We also show that in a particular limit of the N = 1 gauge theory system, certain superpotential terms in the N = 1 system (including deformations if spacetime is noncommutative) are captured to all orders in 1/N by the amplitudes of noncritical bosonic strings propagating on a circle with selfdual radius. We also consider Dbrane/antiDbrane system wrapped over vanishing cycles of compact CalabiYau manifolds and argue that at large N they induce a shift in the background to a topologically distinct CalabiYau, which we identify as the ground state system of the Brane/antiBrane system. August
Inflation and Uplifting with Nilpotent Superfields
"... Recently it was found that a broad class of existing inflationary models based on supergravity can be significantly simplified if some of the standard, unconstrained chiral superfields are replaced by nilpotent superfields, associated with VolkovAkulov supersymmetry. The same method allows to simpl ..."
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Cited by 5 (2 self)
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Recently it was found that a broad class of existing inflationary models based on supergravity can be significantly simplified if some of the standard, unconstrained chiral superfields are replaced by nilpotent superfields, associated with VolkovAkulov supersymmetry. The same method allows
Orbit closures in the enhanced nilpotent cone
 Advances in Mathematics 219
, 2008
"... Abstract. We study the orbits of G = GL(V) in the enhanced nilpotent cone V × N, where N is the variety of nilpotent endomorphisms of V. These orbits are parametrized by bipartitions of n = dim V, and we prove that the closure ordering corresponds to a natural partial order on bipartitions. Moreover ..."
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Cited by 29 (7 self)
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Abstract. We study the orbits of G = GL(V) in the enhanced nilpotent cone V × N, where N is the variety of nilpotent endomorphisms of V. These orbits are parametrized by bipartitions of n = dim V, and we prove that the closure ordering corresponds to a natural partial order on bipartitions
Results 1  10
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