6 citations · 11 across the 7 of their papers we have counts for
10 papers
Connection Towers and Sasaki Metrics on Higher-Order Tangent Bundles
Margarida Camarinha, Jacob R. Goodman
Higher-order tangent bundles possess a rich tower of fibrations, suggesting the existence of geometric structures compatible with their iterated bundle structure. In this paper, we…
A Generalized Sasaki Metric on the Second-Order Tangent Bundle
Margarida Camarinha, Jacob R. Goodman
This paper constructs a connection map on the second-order tangent bundle induced by a linear connection on the base manifold and uses it to define a generalized Sasaki metric. The…
Curvature-adapted submanifolds of semi-Riemannian groups
Margarida Camarinha, Matteo Raffaelli
We study semi-Riemannian submanifolds of arbitrary codimension in a Lie group equipped with a bi-invariant metric. In particular, we show that, if the normal bundle of $M \subs…
Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds
Rama Seshan Chandrasekaran, Leonardo J. Colombo, Margarida Camarinha +2
In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The proble…
Variational point-obstacle avoidance on Riemannian manifolds
Anthony Bloch, Margarida Camarinha, Leonardo Colombo
In this letter we study variational obstacle avoidance problems on complete Riemannian manifolds. The problem consists of minimizing an energy functional depending on the velocity,…
A general framework for quantum splines
L. Abrunheiro, M. Camarinha, J. Clemente-Gallardo +2
Quantum splines are curves in a Hilbert space or, equivalently, in the corresponding Hilbert projective space, which generalize the notion of Riemannian cubic splines to the quantu…
Dynamic interpolation for obstacle avoidance on Riemannian manifolds
Anthony Bloch, Margarida Camarinha, Leonardo Colombo
This work is devoted to studying dynamic interpolation for obstacle avoidance. This is a problem that consists of minimizing a suitable energy functional among a set of admissible…
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…
Variational obstacle avoidance problem on Riemannian manifolds
Anthony Bloch, Margarida Camarinha, Leonardo Colombo
We introduce variational obstacle avoidance problems on Riemannian manifolds and derive necessary conditions for the existence of their normal extremals. The problem consists of mi…
Some applications of quasi-velocities in optimal control
L. Abrunheiro, M. Camarinha, J. F. Cariñena +3
In this paper we study optimal control problems for nonholonomic systems defined on Lie algebroids by using quasi-velocities. We consider both kinematic, i.e. systems whose cost fu…