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math.OC2023
Reduction of Necessary Conditions for the Variational Collision Avoidance Problem
Jacob R. Goodman, Leonardo J. Colombo
In this work, we study the reduction by a Lie group of symmetries of variational collision avoidance probelms of multiple agents evolving on a Riemannian manifold and derive necess…
math.OC2023
Reduction of Sufficient Conditions in Variational Obstacle Avoidance Problems
Jacob R. Goodman, Leonardo J. Colombo
This paper studies sufficient conditions in a variational obstacle avoidance problem on complete Riemannian manifolds. That is, we minimize an action functional, among a set of adm…