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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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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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09/14/2020
Safe learning-based trajectory tracking for underactuated vehicles with partially unknown dynamics
Underactuated vehicles have gained much attention in the recent years du...
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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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02/05/2018
Variational Principles for Optimal Control of Left-Invariant Multi-Agent Systems with Asymmetric Formation Constraints
We study an optimal control problem for a multi-agent system modeled by ...
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01/02/2018
