2 papers
math.OC2025
Dynamics and Optimal Control of State-Triggered Affine Hybrid Systems
William A. Clark
A study of the dynamics and control for linear and affine hybrid systems subjected to either temporally- or spatially-triggered resets is presented. Hybrid trajectories are capable…
cs.RO2025
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
Sangli Teng, Tzu-Yuan Lin, William A Clark +2
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. Although direct trajectory optimization is widely applied to solve this problem,…