18 citations · 20 across the 5 of their papers we have counts for
5 papers
Observer-Based Estimation and Hydrostatic Inertia Modeling for Cooperative Transport of Variable-Inertia Loads with Quadrotors
Jacob Goodman, Leonardo Colombo, Juan Giribet
We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the mul…
Variational Obstacle Avoidance with Applications to Interpolation Problems in Hybrid Systems
Jacob R. Goodman, Leonardo J. Colombo
We study variational obstacle avoidance problems on complete Riemannian manifolds and apply the results to the construction of piecewise smooth curves interpolating a set of knot p…
Geometric Control of two Quadrotors Carrying a Rigid Rod with Elastic Cables
Jacob R. Goodman, Leonardo J. Colombo
This paper presents the design of a geometric trajectory tracking controller for the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a r…
Variational Collision Avoidance on Riemannian Manifolds
Jacob R. Goodman, Leonardo J. Colombo
This paper studies variational collision avoidance problems for multi-agents systems on complete Riemannian manifolds. That is, we minimize an energy functional, among a set of adm…
On the Existence and Uniqueness of Poincaré Maps for Systems with Impulse Effects
Jacob Goodman, Leonardo Colombo
The Poincaré map is widely used to study the qualitative behavior of dynamical systems. For instance, it can be used to describe the existence of periodic solutions. The Poincaré m…