The motion planning problems encountered in manipulation and legged locomotion have a distinctive multi-modal structure, where the space of feasible configurations consists of overlapping submanifolds of non-uniform dimensionality. These spaces do not possess expansiveness, a property that characterizes whether planning queries can be solved with traditional sample-based planners. We present a ...

Sets which simultaneously tile Rn by applying powers of an invertible matrix and translations by a lattice are studied. Diagonal matrices A for which there exist sets that tile by powers of A and by integer translations are characterized. A sufficient condition and a necessary condition on the dilations and translations for the existence of such sets are also given. These conditions depend in a...

We exploit the techniques developed in [Le] to study N -expansive homeomorphisms on surfaces. We prove that when f is a 2-expansive homeomorphism defined on a compact boundaryless surface M with nonwandering set Ω(f) being the whole of M then f is expansive. This condition on the nonwandering set cannot be relaxed: we present an example of a 2-expansive homeomorphisms on a surface with genus 2 ...

We establish a maximin characterisation of the linear escape rate of the orbits of a non-expansive mapping on a complete (hemi-)metric space, under a mild form of Busemann’s non-positive curvature condition (we require a distinguished family of geodesics with a common origin to satisfy a convexity inequality). This characterisation, which involves horofunctions, generalises the Collatz-Wielandt...

Upper bounds are given for the maximum period of periodic solutions of non-expansive mappings in the Banach space (IR n ; j j) with 1 < < 1. Basic in the derivation of these upper bounds are a theorem of Banach on rotations 2] and a geometric property of (IR n ; j j) for 6 = 2 5]. This paper provides a valid proof of a conjecture which appeared in 9]. Some remarks are made about what is diieren...

Video games, unlike traditional, non-digital games, are based on a combination of fixed rules which cannot be broken from the player position, and implied rules which are not enforced by the computer program. It is relatively common, however, for players to impose additional or alternative rules on video games, in order to refine or expand gameplay and to create new gaming experiences. This pap...

Soil is naturally occurring material that is used for the construction of structures except the surface layers of pavements. This naturally occurring soil may not suit the design requirements of ongoing project. So, soil is to be prepared to meet the requirements called soil stabilization. Stabilization is the process of blending of different soils or mixing of additives to a soil to improve ch...