This open access book provides a unified overview of topological obstructions to the stability
and stabilization of dynamical systems defined on manifolds and an overview that is self …

This paper proposes an integration of surrogate modeling and topology to significantly
reduce the amount of data required to describe the underlying global dynamics of robot …

We introduce a novel procedure that, given sparse data generated from a stationary
deterministic nonlinear dynamical system, can characterize specific local and/or global …

Estimating the region of attraction (RoA) for a robot controller is essential for safe application
and controller composition. Many existing methods require a closed-form expression that …

This work introduces a benchmarking framework for sampling-based kinodynamic planning
algorithms, built on top of ML4KP, a C++ library for efficient kinodynamic planning that …

Computer experiments have emerged as a powerful approach for studying real-world
systems through the utilization of complex mathematical models. These experiments have …

In this thesis, I tackle two pivotal challenges in robotics: enhancing safety control via regions
of attraction (RoA) estimation and boosting the computational efficiency of motion planning …

Stability: a search for structure Page 1 Acceptée sur proposition du jury pour l’obtention du
grade de Docteur ès Sciences par Stability: a search for structure Wouter JONGENEEL …

This chapter concludes the monograph and provides a brief overview of generalizations,
ongoing work and open problems. In particular, by means of periodic orbits we highlight …