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cs.RO2025
Lie Group Control Architectures for UAVs: a Comparison of SE2(3)-Based Approaches in Simulation and Hardware
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This paper presents the integration and experimental validation of advanced control strategies for quadcopters based on Lie groups. We build upon recent theoretical developments on…
cs.RO2025
Decentralized Swarm Control via SO(3) Embeddings for 3D Trajectories
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, ou…