82 citations · 290 across the 14 of their papers we have counts for
15 papers
Discrete-time generalized canonical transformations for non-autonomous systems
Leonardo Colombo, David Martin de Diego, Riccardo Muradore +2
A dynamical system is said to be \emph{non-autonomous} when the differential equations describing its evolution depends explicitly on time. Among the various geometric approaches t…
From Euler-Jacobi to Bogoyavlensky and back
Davide Murari, Nicola Sansonetto
This work focuses on two notions of non-Hamiltonian integrable systems: B-integrability and Euler-Jacobi integrability. We first show that the first notion is stronger. We then inv…
On some aspects of the dynamics of a ball in a rotating surface of revolution and of the kasamawashi art
Francesco Fassò, Nicola Sansonetto
We study some aspects of the dynamics of the nonholonomic system formed by a heavy homogeneous ball constrained to roll without sliding on a steadily rotating surface of revolution…
On the dynamics of a heavy symmetric ball that rolls without sliding on a uniformly rotating surface of revolution
Marco Dalla Via, Francesco Fassò, Nicola Sansonetto
We study the class of nonholonomic mechanical systems formed by a heavy symmetric ball that rolls without sliding on a surface of revolution, which is either at rest or rotates abo…
First Integrals and symmetries of nonholonomic systems
Paula Balseiro, Nicola Sansonetto
In nonholonomic mechanics, the presence of constraints in the velocities breaks the well-under\-stood link between symmetries and first integrals of holonomic systems, expressed in…
Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions
Michele Ginesi, Daniele Meli, Andrea Roberti +2
Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to repres…
Autonomous task planning and situation awareness in robotic surgery
Michele Ginesi, Daniele Meli, Andrea Roberti +2
The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigat…
Overcoming Some Drawbacks of Dynamic Movement Primitives
Michele Ginesi, Nicola Sansonetto, Paolo Fiorini
Dynamic Movement Primitives (DMPs) is a framework for learning a point-to-point trajectory from a demonstration. Despite being widely used, DMPs still present some shortcomings tha…
Moving energies as first integrals of nonholonomic systems with affine constraints
Francesco Fassò, Luis C. García-Naranjo, Nicola Sansonetto
In nonholonomic mechanical systems with constraints that are affine (linear nonhomogeneous) functions of the velocities, the energy is typically not a first integral. It was shown…
Nearly-integrable almost-symplectic Hamiltonian systems
Francesco Fasso, Nicola Sansonetto
Integrable Hamiltonian systems on almost-symplectic manifolds have recently drawn some attention. Under suitable properties, they have a structure analogous to those of standard sy…
A Geometric Characterization of Certain First Integrals for Nonholonomic Systems with Symmetries
Paula Balseiro, Nicola Sansonetto
We study the existence of first integrals in nonholonomic systems with symmetry. First we define the concept of -cotangent lift of a vector field on a manifold in…
Conservation of energy and momenta in nonholonomic systems with affine constraints
Francesco Fassò, Nicola Sansonetto
We characterize the conditions for the conservation of the energy and of the components of the momentum maps of lifted actions, and of their `gauge-like' generalizations, in time-i…
Conservation of `moving' energy in nonholonomic systems with affine constraints and integrability of spheres on rotating surfaces
Francesco Fassò, Nicola Sansonetto
Energy is in general not conserved for mechanical nonholonomic systems with affine constraints. In this article we point out that, nevertheless, in certain cases, there is a modifi…
Twisted isotropic realisations of twisted Poisson structures
Nicola Sansonetto, Daniele Sepe
Motivated by the recent connection between nonholonomic integrable systems and twisted Poisson manifolds made in \cite{balseiro_garcia_naranjo}, this paper investigates the global…
Hamiltonian monodromy via geometric quantization and theta functions
Nicola Sansonetto, Mauro Spera
In this paper, Hamiltonian monodromy is studied from the point of view of geometric quantization abd theta functions, and various differential geometric aspects thereof are dealt w…