2 papers
cs.RO2024
Riemannian Variational Calculus: Optimal Trajectories Under Inertia, Gravity, and Drag Effects
Jinwoo Choi, Alejandro Cabrera, Ross L. Hatton
Robotic motion optimization often focuses on task-specific solutions, overlooking fundamental motion principles. Building on Riemannian geometry and the calculus of variations (oft…
math.OC2023
Optimal Control of Robotic Systems and Biased Riemannian Splines
Alejandro Cabrera, Ross L. Hatton
In this paper, we study mechanical optimal control problems on a given Riemannian manifold in which the cost is defined by a general cometric . This investigatio…