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Dubins Path
In geometry, the term Dubins path typically refers to the shortest curve that connects two points in the two-dimensional Euclidean plane (i.e. ''x-y'' plane) with a constraint on the curvature of the path and with prescribed initial and terminal tangents to the path, and an assumption that the vehicle traveling the path can only travel forward. If the vehicle can also travel in reverse, then the path follows the Reeds–Shepp curve. In 1957, Lester Eli Dubins (1920–2010) proved using tools from analysis that any such path will consist of maximum curvature and/or straight line segments. In other words, the shortest path will be made by joining circular arcs of maximum curvature and straight lines. In 1974 Harold H. Johnson proved Dubins' result by applying Pontryagin's maximum principle. In particular, Harold H. Johnson presented necessary and sufficient conditions for a plane curve, which has bounded piecewise continuous curvature and prescribed initial and terminal points and di ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Geometry
Geometry (; ) is, with arithmetic, one of the oldest branches of mathematics. It is concerned with properties of space such as the distance, shape, size, and relative position of figures. A mathematician who works in the field of geometry is called a ''geometer''. Until the 19th century, geometry was almost exclusively devoted to Euclidean geometry, which includes the notions of point, line, plane, distance, angle, surface, and curve, as fundamental concepts. During the 19th century several discoveries enlarged dramatically the scope of geometry. One of the oldest such discoveries is Carl Friedrich Gauss' ("remarkable theorem") that asserts roughly that the Gaussian curvature of a surface is independent from any specific embedding in a Euclidean space. This implies that surfaces can be studied ''intrinsically'', that is, as stand-alone spaces, and has been expanded into the theory of manifolds and Riemannian geometry. Later in the 19th century, it appeared that geometries ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Euclidean Plane
In mathematics, the Euclidean plane is a Euclidean space of dimension two. That is, a geometric setting in which two real quantities are required to determine the position of each point ( element of the plane), which includes affine notions of parallel lines, and also metrical notions of distance, circles, and angle measurement. The set \mathbb^2 of pairs of real numbers (the real coordinate plane) augmented by appropriate structure often serves as the canonical example. History Books I through IV and VI of Euclid's Elements dealt with two-dimensional geometry, developing such notions as similarity of shapes, the Pythagorean theorem (Proposition 47), equality of angles and areas, parallelism, the sum of the angles in a triangle, and the three cases in which triangles are "equal" (have the same area), among many other topics. Later, the plane was described in a so-called '' Cartesian coordinate system'', a coordinate system that specifies each point uniquely in a plane by a ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Curvature
In mathematics, curvature is any of several strongly related concepts in geometry. Intuitively, the curvature is the amount by which a curve deviates from being a straight line, or a surface deviates from being a plane. For curves, the canonical example is that of a circle, which has a curvature equal to the reciprocal of its radius. Smaller circles bend more sharply, and hence have higher curvature. The curvature ''at a point'' of a differentiable curve is the curvature of its osculating circle, that is the circle that best approximates the curve near this point. The curvature of a straight line is zero. In contrast to the tangent, which is a vector quantity, the curvature at a point is typically a scalar quantity, that is, it is expressed by a single real number. For surfaces (and, more generally for higher-dimensional manifolds), that are embedded in a Euclidean space, the concept of curvature is more complex, as it depends on the choice of a direction on the surface or man ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Tangents
In geometry, the tangent line (or simply tangent) to a plane curve at a given point is the straight line that "just touches" the curve at that point. Leibniz defined it as the line through a pair of infinitely close points on the curve. More precisely, a straight line is said to be a tangent of a curve at a point if the line passes through the point on the curve and has slope , where ''f'' is the derivative of ''f''. A similar definition applies to space curves and curves in ''n''-dimensional Euclidean space. As it passes through the point where the tangent line and the curve meet, called the point of tangency, the tangent line is "going in the same direction" as the curve, and is thus the best straight-line approximation to the curve at that point. The tangent line to a point on a differentiable curve can also be thought of as a '' tangent line approximation'', the graph of the affine function that best approximates the original function at the given point. Similarly, t ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Lester Dubins
Lester Dubins (April 27, 1920 – February 11, 2010) was an American mathematician noted primarily for his research in probability theory. He was a faculty member at the University of California at Berkeley from 1962 through 2004, and in retirement was Professor Emeritus of Mathematics and Statistics. It has been thought that, since classic red-and-black casino roulette is a game in which the house on average wins more than the gambler, that "bold play", i.e. betting one's whole purse on a single trial, is a uniquely optimal strategy. While a graduate student at the University of Chicago, Dubins surprised his teacher Leonard Jimmie Savage with a mathematical demonstration that this is not true. Dubins and Savage wrote a book that appeared in 1965 titled ''How to Gamble if You Must (Inequalities for Stochastic Processes)'' which presented a mathematical theory of gambling processes and optimal behavior in gambling situations, pointing out their relevance to traditional approac ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Pontryagin's Maximum Principle
Pontryagin's maximum principle is used in optimal control theory to find the best possible control for taking a dynamical system from one state to another, especially in the presence of constraints for the state or input controls. It states that it is necessary for any optimal control along with the optimal state trajectory to solve the so-called Hamiltonian system, which is a two-point boundary value problem, plus a maximum condition of the control Hamiltonian. These necessary conditions become sufficient under certain convexity conditions on the objective and constraint functions. The maximum principle was formulated in 1956 by the Russian mathematician Lev Pontryagin and his students, and its initial application was to the maximization of the terminal speed of a rocket. The result was derived using ideas from the classical calculus of variations. After a slight perturbation of the optimal control, one considers the first-order term of a Taylor expansion with respect to the pert ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Proceedings Of The American Mathematical Society
''Proceedings of the American Mathematical Society'' is a monthly peer-reviewed scientific journal of mathematics published by the American Mathematical Society. As a requirement, all articles must be at most 15 printed pages. According to the ''Journal Citation Reports'', the journal has a 2018 impact factor of 0.813. Scope ''Proceedings of the American Mathematical Society'' publishes articles from all areas of pure and applied mathematics, including topology, geometry, analysis, algebra, number theory, combinatorics, logic, probability and statistics. Abstracting and indexing This journal is indexed in the following databases: 2011. American Mathematical Society. * |
Robotics
Robotics is an interdisciplinary branch of computer science and engineering. Robotics involves design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics, electronics, bioengineering, computer engineering, control engineering, software engineering, mathematics, etc. Robotics develops machines that can substitute for humans and replicate human actions. Robots can be used in many situations for many purposes, but today many are used in dangerous environments (including inspection of radioactive materials, bomb detection and deactivation), manufacturing processes, or where humans cannot survive (e.g. in space, underwater, in high heat, and clean up and containment of hazardous materials and radiation). Robots can take any form, but some are made to resemble humans in appearance. This is claim ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Control Theory
Control theory is a field of mathematics that deals with the control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any ''delay'', ''overshoot'', or ''steady-state error'' and ensuring a level of control stability; often with the aim to achieve a degree of optimality. To do this, a controller with the requisite corrective behavior is required. This controller monitors the controlled process variable (PV), and compares it with the reference or set point (SP). The difference between actual and desired value of the process variable, called the ''error'' signal, or SP-PV error, is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Other aspects which are also studied are controllability and observability. Control theory is used in control system eng ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Turning Radius
The turning diameter of a vehicle is the minimum diameter (or "width") of available space required for that vehicle to make a circular turn (i.e. U-turn). The term thus refers to a theoretical minimal circle in which for example an aeroplane, a ground vehicle or a watercraft can be turned around. The terms turning radius and turning circle are sometimes used, but can have different meanings (see the section on Alternative nomenclature below). The Oxford English Dictionary describes turning circle as "the smallest circle within which a ship, motor vehicle, etc., can be turned round completely". On wheeled vehicles with the common type of front wheel steering (i.e. one, two or even four wheels at the front capable of steering), the vehicle's turning diameter is a measure of the space needed to turn the vehicle around while the steering is set to its maximum displacement from the central 'straight ahead' position - i.e. either extreme left or right. If a theoretical marker pen was ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Direction (geometry)
In geometry, the orientation, angular position, attitude, bearing, or direction of an object such as a line, plane or rigid body is part of the description of how it is placed in the space it occupies. More specifically, it refers to the imaginary rotation that is needed to move the object from a reference placement to its current placement. A rotation may not be enough to reach the current placement. It may be necessary to add an imaginary translation, called the object's location (or position, or linear position). The location and orientation together fully describe how the object is placed in space. The above-mentioned imaginary rotation and translation may be thought to occur in any order, as the orientation of an object does not change when it translates, and its location does not change when it rotates. Euler's rotation theorem shows that in three dimensions any orientation can be reached with a single rotation around a fixed axis. This gives one common way of representing ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Wolfram Demonstrations Project
The Wolfram Demonstrations Project is an organized, open-source collection of small (or medium-size) interactive programs called Demonstrations, which are meant to visually and interactively represent ideas from a range of fields. It is hosted by Wolfram Research, whose stated goal is to bring computational exploration to a large population. At its launch, it contained 1300 demonstrations but has grown to over 10,000. The site won a Parents' Choice Award in 2008. Technology The Demonstrations run in '' Mathematica'' 6 or above and in '' Wolfram CDF Player'' which is a free modified version of Wolfram's ''Mathematica'' and available for Windows, Linux and macOS and can operate as a web browser plugin. They typically consist of a very direct user interface to a graphic or visualization, which dynamically recomputes in response to user actions such as moving a slider, clicking a button, or dragging a piece of graphics. Each Demonstration also has a brief description of the c ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
