36 citations · 210 across the 58 of their papers we have counts for
5 papers · 1 filter
Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds
Rama Seshan Chandrasekaran, Leonardo J. Colombo, Margarida Camarinha +2
In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The proble…
Variational point-obstacle avoidance on Riemannian manifolds
Anthony Bloch, Margarida Camarinha, Leonardo Colombo
In this letter we study variational obstacle avoidance problems on complete Riemannian manifolds. The problem consists of minimizing an energy functional depending on the velocity,…
On the observability of relative positions in left-invariant multi-agent control systems and its application to formation control
Leonardo Colombo, Hector Garcia de Marina, María Barbero Liñán +1
We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their rela…
Time-minimum control of quantum purity for 2-level Lindblad equations
William Clark, Anthony Bloch, Leonardo Colombo +1
We study time-minimum optimal control for a class of quantum two-dimensional dissipative systems whose dynamics are governed by the Lindblad equation and where control inputs acts…
Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach
Aradhana Nayak, Rodrigo Sato Martín de Almagro, Leonardo Colombo +1
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positio…