378 citations
- Centre National de la Recherche ScientifiqueFR8 papers
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- Centre de Physique ThéoriqueFR3 papers
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4 papers · 1 filter
Coordinated motion design on Lie groups
Alain Sarlette, Silvère Bonnabel, Rodolphe Sepulchre
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coor…
Stabilization of Three-Dimensional Collective Motion
Luca Scardovi, Naomi Leonard, Rodolphe Sepulchre
This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Exploiting the Lie group…
Synchronization in Networks of Identical Linear Systems
Luca Scardovi, Rodolphe Sepulchre
The paper investigates the synchronization of a network of identical linear state-space models under a possibly time-varying and directed interconnection structure. The main result…
Gradient-like observers for invariant dynamics on a Lie group
C. Lageman, J. Trumpf, R. Mahony
This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated…