4 papers · 1 filter
Analysis of the Geometric Heat Flow Equation: Computing Geodesics in Real-Time with Convergence Guarantees
Samuel G. Gessow, Brett T. Lopez
We present an analysis on the convergence properties of the so-called geometric heat flow equation for computing geodesics (extremal curves) on Riemannian manifolds. Computing geod…
Two-Impulse Trajectory Design in Two-Body Systems With Riemannian Geometry
Samuel G. Gessow, James Tseng, Eden Zafran +1
This work presents a new method for generating impulsive trajectories in restricted two-body systems by leveraging Riemannian geometry. The proposed method transforms the standard…
Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control
Samuel G. Gessow, David Thorne, Brett T. Lopez
This paper develops a new framework for preventing localization failures in mobile systems that must estimate their state using measurements. Safety is guaranteed by imposing the n…
Adaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties
Samuel G. Gessow, Brett T. Lopez
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched unce…