Complete analytic solution to Brownian unicycle dynamics

نویسنده

  • Agostino Martinelli
چکیده

This paper derives a complete analytical solution for the probability distribution of the configuration of a non-holonomic vehicle that moves in two spatial dimensions by satisfying the unicycle kinematic constraints and in presence of Brownian noises. In contrast to previous solutions, the one here derived holds even in the case of arbitrary linear and angular speed. This solution is obtained by deriving the analytical expression of any-order moment of the probability distribution. To the best of our knowledge, an analytical expression for any-order moment that holds even in the case of arbitrary linear and angular speed, has never been derived before. To compute these moments, a direct integration of the Langevin equation is carried out and each moment is expressed as a multiple integral of the deterministic motion (i.e., the known motion that would result in absence of noise). For the special case when the ratio between the linear and angular speed is constant, the multiple integrals can be easily solved and expressed as the real or the imaginary part of suitable analytic functions. As an application of the derived analytical results, the paper investigates the diffusivity of the considered Brownian motion for constant and for arbitrary time-dependent linear and angular speed.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Unbiased rotational moves for rigid-body dynamics.

We introduce an unbiased protocol for performing rotational moves in rigid-body dynamics simulations. This approach-based on the analytic solution for the rotational equations of motion for an orthogonal coordinate system at constant angular velocity-removes deficiencies that have been largely ignored in Brownian dynamics simulations, namely errors for finite rotations that result from applying...

متن کامل

The Effects of Different SDE Calculus on Dynamics of Nano-Aerosols Motion in Two Phase Flow Systems

Langevin equation for a nano-particle suspended in a laminar fluid flow was analytically studied. The Brownian motion generated from molecular bombardment was taken as a Wiener stochastic process and approximated by a Gaussian white noise. Euler-Maruyama method was used to solve the Langevin equation numerically. The accuracy of Brownian simulation was checked by performing a series of simulati...

متن کامل

An Analytic Method for Solving Uncertain Differential Equations

Uncertain differential equations are a type of differential equations driven by canonical process, and are quite different from stochastic differential equations that are driven by Brownian motion. A solution of an uncertain differential equation is an uncertain process. This paper presents an analytic method to solve a particular class of nonlinear uncertain differential equations and gives so...

متن کامل

Why Are Quadratic Normal Volatility Models Analytically Tractable?

We discuss the class of “Quadratic Normal Volatility” (QNV) models, which have drawn much attention in the financial industry due to their analytic tractability and flexibility. We characterize these models as those that can be obtained from stopped Brownian motion by a simple transformation and a change of measure that depends only on the terminal value of the stopped Brownian motion. This exp...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • CoRR

دوره abs/1501.03300  شماره 

صفحات  -

تاریخ انتشار 2015