45 citations · 110 across the 14 of their papers we have counts for
15 papers
Retraction maps in optimal control of nonholonomic systems
Alexandre Anahory Simoes, María Barbero Liñán, Anthony Bloch +2
In this paper, we compare the performance of different numerical schemes in approximating Pontryagin's Maximum Principle's necessary conditions for the optimal control of nonholono…
Retraction maps: A seed of geometric integrators. Part II: Symmetry and reduction
María Barbero Liñán, Juan Carlos Marrero, David Martín de Diego
In this paper we use retraction and discretization maps (see [Barbero Liñán and Martín de Diego, 2022]) as a tool for deriving in a systematic way numerical integrators preserving…
Presymplectic integrators for optimal control problems via retraction maps
María Barbero Liñán, David Martín de Diego
Retractions maps are used to define a discretization of the tangent bundle of the configuration manifold as two copies of the configuration manifold where the dynamics take place.…
Retraction maps: a seed of geometric integrators
María Barbero Liñán, David Martín de Diego
The classical notion of retraction map used to approximate geodesics is extended and rigorously defined to become a powerful tool to construct geometric integrators and it is calle…
On the observability of relative positions in left-invariant multi-agent control systems and its application to formation control
Leonardo Colombo, Hector Garcia de Marina, María Barbero Liñán +1
We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their rela…
Inverse problem for Lagrangian systems on Lie algebroids and applications to reduction by symmetries
María Barbero-Liñán, Marta Farré Puiggalí, David Martín de Diego
The language of Lagrangian submanifolds is used to extend a geometric characterization of the inverse problem of the calculus of variations on tangent bundles to regular Lie algebr…