7 papers · 1 filter
Intrinsic Path Following on
Adeel Akhtar
This paper studies intrinsic path following for fully actuated rigid-body attitude dynamics over a broad class of attitude paths, namely arbitrary smooth embedded closed curves on…
Modeling and Control of a Unicycle Robot on Manifolds
Adeel Akhtar, Mohamed Al Lawati
This paper studies path-following control for a kinematic unicycle evolving on a smooth manifold embedded in \(\mathbb{R}^3\). The objective is to stabilize a one-dimensional path…
On the Equivalence of Stochastic Control and Path Space Formulations for Schrödinger Bridges over Compact Connected Lie Groups
Hamza Mahmood, Georgiy A. Bondar, Abhishek Halder +1
We establish the equivalence between the stochastic optimal control and path space formulations of the Schrödinger bridge problem (SBP) for the kinematic equation on a compact conn…
Path-following Control of a Quadrotor using Quasi-Static Transverse Feedback Linearization
Mohamed Al Lawati, Adeel Akhtar
We propose a quasi-static transverse feedback linearization (QSTFL) controller for a quadrotor to follow a prescribed geometric path, rather than a time-parameterized trajectory. I…
A Geometric Solution of the Schrödinger Bridge Problem on via Stochastic Optimal Control
Hamza Mahmood, Adeel Akhtar
We present a geometric coordinate-free solution to the isotropic Schrödinger bridge problem (SBP) for the kinematic equation on the Lie group . We consider the angu…
Learning Neural Maximal Lyapunov Functions on
Adeel Akhtar, Matthieu Barreau
Establishing stability guarantees for dynamical systems on Lie groups is a fundamental challenge, as classical Lyapunov methods developed for Euclidean spaces do not directly trans…
Schrödinger Bridge Over A Compact Connected Lie Group
Hamza Mahmood, Abhishek Halder, Adeel Akhtar
This work studies the Schrödinger bridge problem for the kinematic equation on a compact connected Lie group. The objective is to steer a controlled diffusion between given initial…