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math.OC2022
Optimality of Zeno Executions in Hybrid Systems
William Clark, Maria Oprea
A unique feature of hybrid dynamical systems (systems whose evolution is subject to both continuous- and discrete-time laws) is Zeno trajectories. Usually these trajectories are av…
math.OC2022
Optimal Control of Nonholonomic Systems via Magnetic Fields
Maria Oprea, Max Ruth, Dora Kassabova +1
Geometric optimal control utilizes tools from differential geometry to analyze the structure of a problem to determine the control and state trajectories to reach a desired outcome…
math.DG2022
How do we walk? Using hybrid holonomy to approximate non-holonomic systems
Maria Oprea, William Clark
Why do we move forward when we walk? Our legs undergo periodic motion and thus possess no net change in position; however, our bodies do possess a net change in position and we are…