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On the Geometry of Virtual Nonlinear Nonholonomic Constraints
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic syst…
Virtual Affine Nonholonomic Constraints
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
Virtual constraints are relations imposed in a control system that become invariant via feedback, instead of real physical constraints acting on the system. Nonholonomic systems ar…
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…