4 papers
Discrete variational calculus for double-bracket dissipation
Anthony Bloch, Sebastián J. Ferraro, David Martín de Diego +1
Discrete variational methods show excellent performance in numerical simulations of mechanical systems. In this paper, we adapt discrete variational integrators for the case of mec…
Structure-Preserving Learning of Nonholonomic Dynamics
Thomas Beckers, Anthony Bloch, Leonardo Colombo
Data-driven modeling is playing an increasing role in robotics and control, yet standard learning methods typically ignore the geometric structure of nonholonomic systems. As a con…
Interdisciplinary Workshop on Mechanical Intelligence: Summary Report
Victoria A. Webster-Wood, Nicholas Gravish, Amir Alavi +37
This report provides a summary of the outcomes of the Interdisciplinary Workshop on Mechanical Intelligence held in 2024. Mechanical Intelligence (MI) represents the phenomenon tha…
Nonholonomic constraints at finite temperature
Eduardo A. Jagla, Anthony M. Bloch, Alberto G. Rojo
We investigate the behavior of dynamical systems with nonholonomic constraints when coupled to a thermal bath, focusing on the paradigmatic case of the Chaplygin sleigh. A straight…