Adaptive dynamic path re-planning RRT algorithms with game theory for UAVs

The main aim of this paper is to describe an adaptive re-planning algorithm based on a RRT and Game Theory to produce an efficient collision free obstacle adaptive Mission Path Planner for Search and Rescue (SAR) missions. This will provide UAV autopilots and flight computers with the capability to autonomously avoid static obstacles and No Fly Zones (NFZs) through dynamic adaptive path replanning. The methods and algorithms produce optimal collision free paths and can be integrated on a decision aid tool and UAV autopilots

Harish-Chandra integrals as nilpotent integrals

Recently the correlation functions of the so-called Itzykson-Zuber/Harish-Chandra integrals were computed (by one of the authors and collaborators) for all classical groups using an integration formula that relates integrals over compact groups with respect to the Haar measure and Gaussian integrals over a maximal nilpotent Lie subalgebra of their complexification. Since the integration formula a posteriori had the same form for the classical series, a conjecture was formulated that such a formula should hold for arbitrary semisimple Lie groups. We prove this conjecture using an abstract Lie-theoretic approach.Comment: 10 page

Universality in the profile of the semiclassical limit solutions to the focusing Nonlinear Schroedinger equation at the first breaking curve

We consider the semiclassical (zero-dispersion) limit of the one-dimensional focusing Nonlinear Schroedinger equation (NLS) with decaying potentials. If a potential is a simple rapidly oscillating wave (the period has the order of the semiclassical parameter epsilon) with modulated amplitude and phase, the space-time plane subdivides into regions of qualitatively different behavior, with the boundary between them consisting typically of collection of piecewise smooth arcs (breaking curve(s)). In the first region the evolution of the potential is ruled by modulation equations (Whitham equations), but for every value of the space variable x there is a moment of transition (breaking), where the solution develops fast, quasi-periodic behavior, i.e., the amplitude becomes also fastly oscillating at scales of order epsilon. The very first point of such transition is called the point of gradient catastrophe. We study the detailed asymptotic behavior of the left and right edges of the interface between these two regions at any time after the gradient catastrophe. The main finding is that the first oscillations in the amplitude are of nonzero asymptotic size even as epsilon tends to zero, and they display two separate natural scales; of order epsilon in the parallel direction to the breaking curve in the (x,t)-plane, and of order epsilon ln(epsilon) in a transversal direction. The study is based upon the inverse-scattering method and the nonlinear steepest descent method.Comment: 40 pages, 10 figure

The PDEs of biorthogonal polynomials arising in the two-matrix model

The two-matrix model can be solved by introducing bi-orthogonal polynomials. In the case the potentials in the measure are polynomials, finite sequences of bi-orthogonal polynomials (called "windows") satisfy polynomial ODEs as well as deformation equations (PDEs) and finite difference equations (Delta-E) which are all Frobenius compatible and define discrete and continuous isomonodromic deformations for the irregular ODE, as shown in previous works of ours. In the one matrix model an explicit and concise expression for the coefficients of these systems is known and it allows to relate the partition function with the isomonodromic tau-function of the overdetermined system. Here, we provide the generalization of those expressions to the case of bi-orthogonal polynomials, which enables us to compute the determinant of the fundamental solution of the overdetermined system of ODE+PDEs+Delta-E.Comment: 20 pages v1 18 Nov 2003; v2 9 Jan 2004: trivial Latex mistake correcte

On the location of poles for the Ablowitz-Segur family of solutions to the second Painlev\'e equation

Using a simple operator-norm estimate we show that the solution to the second Painlev\'e equation within the Ablowitz-Segur family is pole-free in a well defined region of the complex plane of the independent variable. The result is illustrated with several numerical examples.Comment: 8 pages, to appear in Nonlinearit

Mixed Correlation Functions of the Two-Matrix Model

We compute the correlation functions mixing the powers of two non-commuting random matrices within the same trace. The angular part of the integration was partially known in the literature: we pursue the calculation and carry out the eigenvalue integration reducing the problem to the construction of the associated biorthogonal polynomials. The generating function of these correlations becomes then a determinant involving the recursion coefficients of the biorthogonal polynomials.Comment: 16 page

Moment determinants as isomonodromic tau functions

We consider a wide class of determinants whose entries are moments of the so-called semiclassical functionals and we show that they are tau functions for an appropriate isomonodromic family which depends on the parameters of the symbols for the functionals. This shows that the vanishing of the tau-function for those systems is the obstruction to the solvability of a Riemann-Hilbert problem associated to certain classes of (multiple) orthogonal polynomials. The determinants include Haenkel, Toeplitz and shifted-Toeplitz determinants as well as determinants of bimoment functionals and the determinants arising in the study of multiple orthogonality. Some of these determinants appear also as partition functions of random matrix models, including an instance of a two-matrix model.Comment: 24 page

The Cauchy two-matrix model

We introduce a new class of two(multi)-matrix models of positive Hermitean matrices coupled in a chain; the coupling is related to the Cauchy kernel and differs from the exponential coupling more commonly used in similar models. The correlation functions are expressed entirely in terms of certain biorthogonal polynomials and solutions of appropriate Riemann-Hilbert problems, thus paving the way to a steepest descent analysis and universality results. The interpretation of the formal expansion of the partition function in terms of multicolored ribbon-graphs is provided and a connection to the O(1) model. A steepest descent analysis of the partition function reveals that the model is related to a trigonal curve (three-sheeted covering of the plane) much in the same way as the Hermitean matrix model is related to a hyperelliptic curve.Comment: 34 pages, 2 figures. V2: changes only to metadat

The Orthogonal Gaseous Kinematical Decoupling in the Sa Spiral NGC 2855

We present major and minor-axis kinematics of stars and ionized gas as well as narrow and broad-band surface photometry of the Sa spiral NGC 2855. In the nuclear regions of this unbarred and apparently undisturbed spiral galaxy the gas is rotating perpendicularly to the galaxy disk. We suggest that this kinematically-decoupled component is the signature of an acquisition process in the history of this galaxy.Comment: 7 pages, 4 PostScript figures. Accepted for pubblication in A&A. Figs. 1 and 3 at lower resolution. Data tables will be available at CD

Second and Third Order Observables of the Two-Matrix Model

In this paper we complement our recent result on the explicit formula for the planar limit of the free energy of the two-matrix model by computing the second and third order observables of the model in terms of canonical structures of the underlying genus g spectral curve. In particular we provide explicit formulas for any three-loop correlator of the model. Some explicit examples are worked out.Comment: 22 pages, v2 with added references and minor correction