29 citations · 52 across the 16 of their papers we have counts for
4 papers · 1 filter
The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems
Jake Welde, Matthew D. Kvalheim, Vijay Kumar
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an…
Obstructions to asymptotic stabilization
Matthew D. Kvalheim
Necessary conditions for asymptotic stability and stabilizability of subsets for dynamical and control systems are obtained. The main necessary condition is homotopical and is in t…
Estimating Phase from Observed Trajectories Using the Temporal 1-Form
Simon Wilshin, Matthew D. Kvalheim, Clayton Scott +1
Oscillators are ubiquitous in nature, and usually associated with the existence of an asymptotic phase that governs the long-term dynamics of the oscillator. % We show that asympto…
A generalization of the Hopf degree theorem
Matthew D. Kvalheim
The Hopf theorem states that homotopy classes of continuous maps from a closed connected oriented smooth -manifold to the -sphere are classified by their degree. Such a m…