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Invariance of integro-differential equations with moving region of integration

100%

Zawistowski Z. J.

tom Vol. 47, no 2

103-112

General criterion of invariance of integro-differential equations under the Lie symmetry group of point transformations is derived. It is a generalization of the previous form of the criterion to the case of a moving range of integration. This is the situation when a region of integration depends on external, with respect to integration, variables what leads to its explicit dependence on a group parameter, so the region of integration moves under symmetry transformations. General case of dependence on independent and dependent variables and their derivatives is considered.

Application of transverse functions to control differentially driven wheeled robots using velocity fields

84%

Pazderski D.

tom Vol. 64, nr 4

831--851

This paper deals with control of a nonholonomic unicycle-like robot in a cluttered environment with static obstacles. The proposed solution is based on a combination of a universal motion controller taking advantage of transverse functions with a navigation velocity field determining a path in a free task space. The motion controller is used to imitate an omnidirectional planar kinematics such that nonholonomic constraints become hidden for a navigation layer. Then it is possible to generate vector fields which govern motion of the omnidirectional frame. The controller using the transverse function is discussed in depth. In particular, a possible parametrization of this function is considered and analysis of an augmented dynamics is provided for different motion patterns. Next, construction of obstacles and potential design for star-like shapes are presented. The navigation algorithm is verified experimentally and the results are discussed.

Projective coordinates and compactification in elliptic, parabolic and hyperbolic 2-D geometry

67%

Biswas D.

2012

tom Vol. 18, nr 1

145-158

The result that the upper half plane is not preserved in the hyperbolic case has implications in physics, geometry and analysis. We discuss in details the introduction of projective coordinates for the EPH cases. We also introduce an appropriate compactification for all the three EPH cases, which results in a sphere in the elliptic case, a cylinder in the parabolic case and a crosscap in the hyperbolic case.