18 citations · 28 across the 16 of their papers we have counts for
11 papers · 1 filter
Contracting Forced Lagrangian and Contact Lagrangian Systems: application to nonholonomic systems with symmetries
Alexandre Anahory Simoes, Leonardo Colombo
In this paper we address the problem of identifying contracting systems among dynamical systems appearing in mechanics. First, we introduce a sufficient condition to identify contr…
Optimal Control with Broken Symmetry of Multi-Agent Systems on Lie Groups
Efstratios Stratoglou, Leonardo Colombo, Tomoki Ohsawa
In this paper we study reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry break…
Variational problems on Riemannian manifolds with constrained accelerations
Alexandre Anahory Simoes, Leonardo Colombo
We introduce variational problems on Riemannian manifolds with constrained acceleration and derive necessary conditions for normal extremals in the constrained variational problem.…
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…
Variational Obstacle Avoidance with Applications to Interpolation Problems in Hybrid Systems
Jacob R. Goodman, Leonardo J. Colombo
We study variational obstacle avoidance problems on complete Riemannian manifolds and apply the results to the construction of piecewise smooth curves interpolating a set of knot p…
Variational Collision Avoidance on Riemannian Manifolds
Jacob R. Goodman, Leonardo J. Colombo
This paper studies variational collision avoidance problems for multi-agents systems on complete Riemannian manifolds. That is, we minimize an energy functional, among a set of adm…