7 papers
Optimal Control of Incompressible Ideal Flows with Obstacle Avoidance
Alexandre Anahory Simoes, Anthony Bloch, Leonardo Colombo
It was shown in \cite{bloch2000optimal} that an optimal control formulation for incompressible ideal fluid flow yields Euler's equations. In this paper, we consider a variational o…
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
Leonardo Colombo, Ãlvaro RodrÃguez Abella, Alexandre Anahory Simoes +1
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore de…
Virtual Holonomic and Nonholonomic Constraints on Lie groups
A. Anahory Simoes, A. Bloch, L. Colombo +1
This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and vir…
Virtual nonlinear nonholonomic constraints from a symplectic point of view
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
In this paper, we provide a geometric characterization of virtual nonlinear nonholonomic constraints from a symplectic perspective. Under a transversality assumption, there is a un…
Retraction maps in optimal control of nonholonomic systems
Alexandre Anahory Simoes, MarÃa Barbero Liñán, Anthony Bloch +2
In this paper, we compare the performance of different numerical schemes in approximating Pontryagin's Maximum Principle's necessary conditions for the optimal control of nonholono…
Variational Collision Integrators for Nonholonomic Lagrangian Systems
Ãlvaro RodrÃguez Abella, Leonardo Colombo
A discrete theory for implicit nonholonomic Lagrangian systems undergoing elastic collisions is developed. It is based on the discrete Lagrange-d'Alembert-Pontryagin variational pr…