36 citations · 210 across the 58 of their papers we have counts for
13 papers · 1 filter
Hamilton-Jacobi theory for nonholonomic and forced hybrid mechanical systems
Leonardo Colombo, Manuel de León, María Emma Eyrea Irazú +1
A hybrid system is a system whose dynamics is given by a mixture of both continuous and discrete transitions. In particular, these systems can be utilised to describe the dynamics…
Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage
Alexandre Anahory Simoes, Asier López-Gordón, Anthony Bloch +1
Forced variational integrators are given by the discretization of the Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical sim…
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…
Nonsmooth Herglotz variational principle
Asier López-Gordón, Leonardo Colombo, Manuel de León
In this paper, the theory of smooth action-dependent Lagrangian mechanics (also known as contact Lagrangians) is extended to a non-smooth context appropriate for collision problems…
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…