3 papers
math.DS2025
Contraction Dynamics in Heterogeneous Spatial Environments
Carlos Barajas, Jean-Jacques Slotine, Domitilla Del Vecchio
Understanding the asymptotic behavior of reaction-diffusion (RD) systems is crucial for modeling processes ranging from species coexistence in ecology to biochemical interactions w…
cs.RO2025
Combining Movement Primitives with Contraction Theory
Moses C. Nah, Johannes Lachner, Neville Hogan +1
This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamic…
cs.RO2024
Quaternion Sliding Variables in Manipulator Control
Brett T. Lopez, Jean-Jacques Slotine
We present two quaternion-based sliding variables for controlling the orientation of a manipulator's end-effector. Both sliding variables are free of singularities and represent gl…