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math.OC2022
Reduction by Symmetry in Obstacle Avoidance Problems on Riemannian Manifolds
Jacob R. Goodman, Leonardo J. Colombo
This paper studies the reduction by symmetry of a variational obstacle avoidance problem. We derive the reduced necessary conditions in the case of Lie groups endowed with a left-i…
math.OC2022
Local Minimizers for Variational Obstacle Avoidance on Riemannian manifolds
Jacob R. Goodman
This paper studies a variational obstacle avoidance problem on complete Riemannian manifolds. That is, we minimize an action functional, among a set of admissible curves, which dep…