36 citations · 210 across the 58 of their papers we have counts for
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math.NA2014
Geometric integrators for higher-order variational systems and their application to optimal control
Leonardo Colombo, Sebastián Ferraro, David Martín de Diego
Numerical methods that preserve geometric invariants of the system, such as energy, momentum or the symplectic form, are called geometric integrators. In this paper we present a me…
math.OC2014★ 2 cited
A geometric approach to the optimal control of nonholnomic mechanical systems
Anthony Bloch, Leonardo Colombo, Rohit Gupta +1
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost f…