Sequential gradient dynamics in real analytic Morse systems

DOI10.1080/14689367.2016.1172557MaRDI QIDQ5278381zbMATH OpenOpenAlexFDO

Authors H. I. Bozma, Ferit Öztürk

Publication date 19 July 2017

Published in Dynamical Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1510.02133

zbMATH Keywords

descent methodMorse systemreal-analytic gradient flowsequential hybrid processŁojasiewicz gradient inequality

Mathematics Subject Classification ID

Theory of limit cycles of polynomial and analytic vector fields (existence, uniqueness, bounds, Hilbert's 16th problem and ramifications) for ordinary differential equations (34C07) Dynamics induced by flows and semiflows (37C10) Real-analytic and Nash manifolds (58A07) Artificial intelligence for robotics (68T40)

Abstract: Let $Omega$ in $R^M$ be a compact connected $M$-dimensional real analytic domain with boundary and $phi$ be a primal navigation function; i.e. a real analytic Morse function on $Omega$ with a unique minimum and with minus gradient vector field $G$ of $phi$ on the boundary of $Omega$ pointed inwards along each coordinate. Related to a robotics problem, we define a sequential hybrid process on $Omega$ for $G$ starting from any initial point $q_0$ in the interior of $Omega$ as follows: at each step we restrict ourselves to an affine subspace where a collection of coordinates are fixed and allow the other coordinates change along an integral curve of the projection of $G$ onto the subspace. We prove that provided each coordinate appears infinitely many times in the coordinate choices during the process, the process converges to a critical point of $phi$. That critical point is the unique minimum for a dense subset in primal navigation functions. We also present an upper bound for the total length of the trajectories close to a critical point.

Recommendations

• Robot navigation functions on manifolds with boundary
• Pointwise convergence of gradient‐like systems
• Families of Morse functions parameterized by maxima
• On the stable equilibrium points of gradient systems
• On the stable set of an analytic gradient flow

Cites work

• A block coordinate descent method for regularized multiconvex optimization with applications to nonnegative tensor factorization and completion
• Convergence of the Iterates of Descent Methods for Analytic Cost Functions
• Proof of the gradient conjecture of R. Thom.
• Robot navigation functions on manifolds with boundary
• Topological complexity of collision-free motion planning on surfaces
• Topological complexity of motion planning

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