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math.OC2022★ 1 cited
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…
math.OC2018
Geometric Kinematic Control of a Spherical Rolling Robot
Tomoki Ohsawa
We give a geometric account of kinematic control of a spherical rolling robot controlled by two internal wheels just like the toy robot Sphero. Particularly, we introduce the notio…