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Nonholonomic systems with inequality constraints
Alexandre Anahory Simoes, Leonardo Colombo
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discreti…
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…