1 citations · 2 across the 4 of their papers we have counts for
4 papers
Lie Group Variational Collision Integrators for a Class of Hybrid Systems
Khoa Tran, Melvin Leok
The problem of 3-dimensional, convex rigid-body collision over a plane is fully investigated; this includes bodies with sharp corners that is resolved without the need for nonsmoot…
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
Kehan Long, Khoa Tran, Melvin Leok +1
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a poly…
High-order symplectic Lie group methods on using the polar decomposition
Xuefeng Shen, Khoa Tran, Melvin Leok
A variational integrator of arbitrarily high-order on the special orthogonal group is constructed using the polar decomposition and the constrained Galerkin method. It has…
Time-symmetry, symplecticity and stability of Euler-Maclaurin and Lanczos-Dyche integration
Charalampos M. Markakis, Michael F. O'Boyle, Derek Glennon +5
Numerical evolution of time-dependent differential equations via explicit Runge-Kutta or Taylor methods typically fails to preserve symmetries of a system. It is known that there e…