2 citations · 6 across the 7 of their papers we have counts for
7 papers
Reduction by Symmetry in Obstacle Avoidance Problems on Riemannian Manifolds
Jacob R. Goodman, Leonardo J. Colombo
This paper studies the reduction by symmetry of a variational obstacle avoidance problem. We derive the reduced necessary conditions in the case of Lie groups endowed with a left-i…
Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups
Efstratios Stratoglou, Alexandre Anahory Simoes, Leonardo J. Colombo
We study the reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost f…
Event-triggered Control of Port-Hamiltonian Systems under Time-delay Communication
Ernesto Aranda-Escolástico, Leonardo J. Colombo, María Guinaldo +1
We study the problem of periodic event-triggered control of interconnected port-Hamiltonian systems subject to time-varying delays in their communication. In particular, we design…
Virtual Nonholonomic Constraints: A Geometric Approach
Alexandre Anahory Simoes, Efstratios Stratoglou, Anthony Bloch +1
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanic…
Learning Rigidity-based Flocking Control with Gaussian Processes
Manuela Gamonal, Thomas Beckers, George J. Pappas +1
Flocking control of multi-agents system is challenging for agents with partially unknown dynamics. This paper proposes an online learning-based controller to stabilize flocking mot…
Geometric Control for Load Transportation with Quadrotor UAVs by Elastic Cables
Jacob R. Goodman, Juan S. Cely, Thomas Beckers +1
Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload. However, the resulting m…