Searcharxiv⌕ Search

arXiv subjects

Przemysław Dobrowolski

Publications and source records attributed to Przemysław Dobrowolski.

3 recordsLinked to original sources

Evaluation of the symmetrized Mordell-Tornheim zeta function

In this paper we evaluate the symmetrized Mordell-Tornheim zeta function defined as \begin{equation*} \overlineζ_n(w_1, \ldots, w_n) = \sum_{\substack{a_1, \ldots, a_n \in \mathbb{Z}^* \\ a_1 + \ldots + a_n = 0}} \frac{1}{\left| a_1^{w_1} \cdots a_n^{w_n} \right|} \end{equation*} where $n \ge 1$ is a positive integer representing the depth and $w_1, \ldots, w_n \ge 1$ are positive integers representing the weight $w = w_1 + \ldots + w_n$ of the function. Compared to the classical Mordell-Tornheim zeta function $ζ_{MT,n}(w_1, \ldots, w_n; w_{n+1})$ which is restricted to the positive orthant (hyperoctant), the symmetrized one spans the entire $(n-1)$-dimensional hyperplane. We show that when the depth and the weight of the function are equal, that is for $\overlineζ_n(1, \ldots, 1)$, it has a remarkably simple representation in terms of standard functions: \begin{equation*} \overlineζ_n(1, \ldots, 1) = B_n(f^{(1)}(0), \ldots, f^{(n)}(0)) \end{equation*} where $B_n$ is $n$-th complete exponential Bell polynomial and $f^{(n)}(0)$ is $n$-th derivative at $x=0$ of function $f(x)$ defined as: \begin{equation*} f(x) = \ln \binom{-2x}{-x} \end{equation*} Additionally, we show the value can be expressed using the following polynomials with positive integer coefficients over the values of zeta function: \begin{equation*} \overlineζ_n(1, \ldots, 1) = B_n(0, (2^2 - 2) Γ(2) ζ(2), \ldots, (2^n - 2) Γ(n) ζ(n)) \end{equation*} or equivalently, over the values of eta function: \begin{equation*} \overlineζ_n(1, \ldots, 1) = B_n(0, 2^2 Γ(2) η(2), \ldots, 2^n Γ(n) η(n)) \end{equation*} The list of explicit values for small $1 \le n \le 10$ is available in the appendix.

math.CA↗

Parameterization of configuration space obstacles in three-dimensional rotational motion planning

This study investigates the exact geometry of the configuration space in three-dimensional rotational motion planning. A parameterization of configuration space obstacles is derived for a given triangulated or ball-approximated scene with an object rotating around a given point. The results obtained are an important step towards a complete description of the rich structure of a configuration space in three-dimensional rotational motion planning.

cs.CG↗

Swing-twist decomposition in Clifford algebra

The swing-twist decomposition is a standard routine in motion planning for humanoid limbs. In this paper the decomposition formulas are derived and discussed in terms of Clifford algebra. With the decomposition one can express an arbitrary spinor as a product of a twist-free spinor and a swing-free spinor (or vice-versa) in 3-dimensional Euclidean space. It is shown that in the derived decomposition formula the twist factor is a generalized projection of a spinor onto a vector in Clifford algebra. As a practical application of the introduced theory an optimized decomposition algorithm is proposed. It favourably compares to existing swing-twist decomposition implementations.

cs.RO↗