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08/30/2023
Symmetry Preservation in Hamiltonian Systems: Simulation and Learning
This work presents a general geometric framework for simulating and lear...
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06/11/2023
A new perspective on symplectic integration of constrained mechanical systems via discretization maps
A new procedure to construct symplectic methods for constrained mechanic...
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03/31/2023
Higher-order retraction maps and construction of numerical methods for optimal control of mechanical systems
Retractions maps are used to define a discretization of the tangent bund...
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03/14/2023
Discrete gradient methods for irreversible port-Hamiltonian systems
In this paper we introduce discrete gradient methods to discretize irrev...
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06/17/2022
A parallel iterative method for variational integration
Discrete variational methods show excellent performance in numerical sim...
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03/01/2022
Presymplectic integrators for optimal control problems via retraction maps
Retractions maps are used to define a discretization of the tangent bund...
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02/03/2022
Variational integrators for non-autonomous systems with applications to stabilization of multi-agent formations
Numerical methods that preserve geometric invariants of the system, such...
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01/31/2022
Nonholonomic Newmark method
Using the nonholonomic exponential map, we generalize the well-known fam...
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09/12/2021
Parallel iterative methods for variational integration applied to navigation problems
Discrete variational methods have shown an excellent performance in nume...
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06/04/2021
A Discrete Variational Derivation of Accelerated Methods in Optimization
Many of the new developments in machine learning are connected with grad...
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06/01/2021
Extended retraction maps: a seed of geometric integrators
The classical notion of retraction map used to approximate geodesics is ...
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03/26/2020
On the geometry of discrete contact mechanics
In this paper, we continue the construction of variational integrators a...
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03/25/2020
Exact discrete Lagrangian mechanics for nonholonomic mechanics
We construct the exponential map associated to a nonholonomic system tha...
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09/19/2019
On the observability of relative positions in left-invariant multi-agent control systems and its application to formation control
We consider the localization problem between agents while they run a for...
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06/24/2019
