4 citations · 4 across the 6 of their papers we have counts for
3 papers · 1 filter
Lossless optimal transient control for rigid bodies in 3D space
Riccardo Zanella, Federico Califano, Antonio Franchi +1
In this letter, we propose a control scheme for rigid bodies designed to optimise transient behaviors. The search space for the optimal control input is parameterized to yield a pa…
The effect of control barrier functions on energy transfers in controlled physical systems
Federico Califano, Riccardo Zanella, Alessandro Macchelli +1
Using a port-Hamiltonian formalism, we show the qualitative and quantitative effect of safety-critical control implemented with control barrier functions (CBFs) on the power balanc…
Optimal Potential Shaping on SE(3) via Neural ODEs on Lie Groups
Yannik P. Wotte, Federico Califano, Stefano Stramigioli
This work presents a novel approach for the optimization of dynamic systems on finite-dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary differential…