21 citations · 52 across the 33 of their papers we have counts for
8 papers · 1 filter
Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum
Klaus Albert, Karmvir Singh Phogat, Felix Anhalt +3
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion pl…
A Lagrangian Model to Predict Microscallop Motion in non Newtonian Fluids
Yashaswini Murthy, Ravi Banavar
The need to develop models to predict the motion of microrobots, or robots of a much smaller scale, moving in fluids in a low Reynolds number regime, and in particular, in non Newt…
Discrete Optimal Control of Interconnected Mechanical Systems
Siddharth H. Nair, Ravi N. Banavar
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is…
Variational dynamic interpolation for kinematic systems on trivial principal bundles
Sudin Kadam, Ravi N. Banavar
This article presents the dynamic interpolation problem for locomotion systems evolving on a trivial principal bundle . Given an ordered set of points in , we wish to generat…
A simple proof of the discrete time geometric Pontryagin maximum principle on smooth manifolds
Mishal Assif P K, Debasish Chatterjee, Ravi Banavar
We establish a geometric Pontryagin maximum principle for discrete time optimal control problems on finite dimensional smooth manifolds under the following three types of constrain…
Variational collision avoidance problems on Riemannian manifolds
Mishal Assif, Ravi Banavar, Anthony Bloch +2
In this article we introduce a variational approach to collision avoidance of multiple agents evolving on a Riemannian manifold and derive necessary conditions for extremals. The p…
Modelling and controllability of the motion of a slender, flexible micro-swimmer
Sudin Kadam, Ravi N. Banavar
The mechanism of swimming at very low Reynolds number conditions is a topic of interest to biologists and engineering community. We develop a novel kinematic model of a slender fle…
A frequency-constrained geometric Pontryagin maximum principle on matrix Lie groups
Shruti Kotpalliwar, Pradyumna Paruchuri, Karmvir Singh Phogat +2
In this article we present a geometric discrete-time Pontryagin maximum principle (PMP) on matrix Lie groups that incorporates frequency constraints on the controls in addition to…