19 citations · 23 across the 21 of their papers we have counts for
6 papers · 1 filter
Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage
Alexandre Anahory Simoes, Asier López-Gordón, Anthony Bloch +1
Forced variational integrators are given by the discretization of the Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical sim…
Contracting Forced Lagrangian and Contact Lagrangian Systems: application to nonholonomic systems with symmetries
Alexandre Anahory Simoes, Leonardo Colombo
In this paper we address the problem of identifying contracting systems among dynamical systems appearing in mechanics. First, we introduce a sufficient condition to identify contr…
Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups
Efstratios Stratoglou, Alexandre Anahory Simoes, Leonardo J. Colombo
We study the reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost f…
Virtual Nonholonomic Constraints: A Geometric Approach
Alexandre Anahory Simoes, Efstratios Stratoglou, Anthony Bloch +1
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanic…
Variational problems on Riemannian manifolds with constrained accelerations
Alexandre Anahory Simoes, Leonardo Colombo
We introduce variational problems on Riemannian manifolds with constrained acceleration and derive necessary conditions for normal extremals in the constrained variational problem.…
Nonholonomic Newmark method
Alexandre Anahory Simões, Sebastián J. Ferraro, Juan Carlos Marrero +1
Using the nonholonomic exponential map, we generalize the well-known family of Newmark methods for nonholonomic systems. We give numerical examples including a test problem where t…