Thesis (doctoral)--Rheinische Friedrich-Wilhelms-Universität Bonn, 2000. / Includes bibliographical references (p. 99-102) and index.

In this paper we show how to give an intrinsic definition of a constructible circle on the sphere. The classical definition of constructible circle in the plane, using straight edge and compass is there by translated in ters of so called Lenart tools. The process by which we achieve our goal involves concepts from the algebra of Hermitian matrices, complex variables, and Sterographic projection. However, the discussion is entirely elementary throughout and hopefully can serve as a guide for teachers in advanced geometry.

In this thesis we address the constructibility problem for a ground vehicle moving across an environment instrumented with ranging sensors. When the measurements collected by the vehicle along the trajectory are sufficiently informative, the global constructibility property is achieved and the vehicle is able to localise itself in the environment without relying on prior information on its state. When this condition is not met, the system can still achieve local (or weak) constructibility, where localising the robot requires some initial information on the state, such as a sufficiently small set containing the initial position of the robot, or some inaccessible areas of the Cartesian plane. First, we address the global problem: we show that extending the well--known solutions for the positioning problem, e.g. trilateration, is not trivial and leads to unintuitive results where constructibility is not attained. By building an abstract trajectory, which contains all the relevant information to reconstruct the actual trajectory followed by the vehicle, we analyse how global constructibility properties are affected by the shape of the abstract trajectory, the number of sensors, their deployment in the environment, and the distribution of measurements among the beacons. To describe local constructibility, we build the Constructibility Gramian for a robot described by the unicycle kinematic model. We rely on this tool for a twofold aim: (a) we build the same abstract trajectory presented for the global analysis and define necessary and sufficient conditions to attain local constructibility, and (b) in an environment instrumented with two beacons and for straight trajectories followed by the vehicle, we measure local constructibility by means of the smallest eigenvalue of the Constructibility Gramian, and we analyse how this metric is affected by the geometry of the scenario, e.g. the distance between anchors, and the distance between the trajectory and the line joining the anchors. Lastly, we extend the devised results to multiagent systems, both for constructibility analysis and for trajectory planning algorithms. We build the Constructibility Gramian for the multiagent system with relative ranging measurements and assess local constructibility property. Then, we propose a trajectory planning algorithm where a pair of vehicles without a priori information achieve global constructibility with both absolute and relative measurements. Moreover, we propose a variation of the Constructibility Gramian, limited to the position variable and hence called Position Gramian, and use this tool in a Model Predictive Control framework to plan the trajectory of a tracker vehicle aiming at simultaneously localising itself and a collaborative target through ranging measurements.

Dans ce mémoire, nous allons nous concentrer sur le sujet de l’universalité en analyse complexe. Tout d'abord, nous allons énumérer de nombreux résultats découverts dans ce domaine, tout en soulignant que, dans la plupart des cas, les preuves d'existence des éléments universels sont implicites et non pas constructives. Nous examinerons en détail une preuve spécifique de l'existence des séries universelles de Taylor qui se voulait constructive et nous déterminerons si tel est le cas ou non. Pour atteindre cet objectif, nous introduirons un nouvel élément universel que nous appellerons les séries numériques universelles. Ce sont des séries complexes telles que leurs sommes partielles sont denses dans le plan complexe. Nous donnerons une preuve constructive de l'existence de ces éléments et, afin de déterminer pleinement si la preuve susmentionnée de l'existence des séries universelles de Taylor est constructive, nous allons la comparer avec notre preuve de l'existence des séries numériques universelles. Enfin, nous examinerons les propriétés topologiques et algébriques des séries numériques universelles, en montrant sous quelles conditions elles sont topologiquement génériques et algébriquement génériques dans l'ensemble de toutes séries formelles à termes complexes. / This master's thesis will be centered around the subject of universality in complex analysis. First, we will provide a summary of many of the results that have been discovered in the field of universality. We will show that, in most cases, the proofs of existence of the universal elements are not constructive, but, rather, implicit. We will perform an in-depth analysis of a specific proof of the existence of Universal Taylor series which was intended to be constructive and we will determine whether or not this goal was achieved. To do this, we will introduce a new universal element, which we will call Universal numerical series. These are complex numerical series such that the partial sums of the series are dense in the complex plane. We will give a constructive proof of the existence of these elements and, in order to fully determine whether the aforementioned proof of the existence of the Universal Taylor series is constructive, we will compare it to our proof of the existence of the Universal numerical series. Finally, we will examine the topological and algebraic properties of the Universal numerical series, showing under which conditions they are topologically generic and algebraically generic in the set of all complex numerical series.