2 citations · 4 across the 18 of their papers we have counts for
4 papers · 2 filters
Virtual Holonomic and Nonholonomic Constraints on Lie groups
A. Anahory Simoes, A. Bloch, L. Colombo +1
This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and vir…
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…
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…
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…