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physics.gen-ph2026
Uncertainty in space, time, and motion on the special Galilean group
Jonathan Kelly, Matthew Giamou
Classical mechanics unfolds within absolute time and Euclidean space, yet our knowledge of where events occur, when they occur, and how motion evolves is inherently uncertain. The…
cs.RO2026
Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds
Phone Thiha Kyaw, Jonathan Kelly
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean…