Search Results - "Colombo, Leonardo J."

Geometric Control for Load Transportation With Quadrotor UAVs by Elastic Cables by Goodman, Jacob R., Beckers, Thomas, Colombo, Leonardo J.

“…Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload…”
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Dynamic interpolation for obstacle avoidance on Riemannian manifolds by Bloch, Anthony, Camarinha, Margarida, Colombo, Leonardo J.

“…This work is devoted to studying dynamic interpolation for obstacle avoidance. This is a problem that consists of minimising a suitable energy functional among…”
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Learning-Based Fault-Tolerant Control for an Hexarotor With Model Uncertainty by Colombo, Leonardo J., Giribet, Juan I.

“…In this brief, we present a learning-based tracking controller based on Gaussian processes (GPs) for a fault-tolerant hexarotor in a recovery maneuver. In…”
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Motion Feasibility Conditions for Multiagent Control Systems on Lie Groups by Colombo, Leonardo J., Dimarogonas, Dimos V.

“…We study the problem of motion feasibility for multiagent control systems on Lie groups with collision-avoidance constraints. We first consider the problem for…”
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Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups by Stratoglou, Efstratios, Simoes, Alexandre Anahory, Colombo, Leonardo J.

“…We study the reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial…”
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Dual Quaternion Cluster-Space Formation Control by Giribet, Juan I., Colombo, Leonardo J., Moreno, Patricio, Mas, Ignacio, Dimarogonas, Dimos V.

“…We present a tracking controller for mobile multi-robot systems based on dual quaternion pose representations applied to formations of robots in a…”
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Learning Rigidity-based Flocking Control using Gaussian Processes with Probabilistic Stability Guarantees by Beckers, Thomas, Pappas, George J., Colombo, Leonardo J.

“…Flocking control of multi-agents system is challenging for agents with partially unknown dynamics. These dynamics typically occur due to unfavorable…”
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Learning-based Balancing of Model-based and Feedback Control for Second-order Mechanical Systems by Beckers, Thomas, Colombo, Leonardo J., Morari, Manfred, Pappas, George J.

“…High-performance tracking control of mechanical systems typically requires model-based control as it enables to counteract undesirable dynamics in a timely…”
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Virtual nonholonomic constraints: A geometric approach by Simoes, Alexandre Anahory, Stratoglou, Efstratios, Bloch, Anthony, Colombo, Leonardo J.

“…Virtual constraints are relations imposed in a control system that become invariant via feedback instead of real physical constraints acting on the system…”
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Structure preserving reduced attitude control of gyroscopes by Raj, Nidhish, Colombo, Leonardo J., Simha, Ashutosh

“…We design a reduced attitude controller for reorienting the spin axis of a gyroscope in a geometric control framework. The proposed controller preserves the…”
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Hybrid Routhian reduction for simple hybrid forced Lagrangian systems by Eyrea Irazu, Maria Emma, Lopez-Gordon, Asier, de Leon, Manuel, Colombo, Leonardo J.

“…This paper discusses Routh reduction for simple hybrid forced mechanical systems. We give general conditions on whether it is possible to perform symmetry…”
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Distributed Event-Triggered Flocking Control of Lagrangian Systems by Aranda-Escolastico, Ernesto, Colombo, Leonardo J., Guinaldo, Maria

“…In this letter, an event-triggered control protocol is developed to investigate flocking control of Lagrangian systems, where event-triggering conditions are…”
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Online Learning-Based Trajectory Tracking for Underactuated Vehicles With Uncertain Dynamics by Beckers, Thomas, Colombo, Leonardo J., Hirche, Sandra, Pappas, George J.

“…Underactuated vehicles have gained much attention in the recent years due to the increasing amount of aerial and underwater vehicles as well as nanosatellites…”
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Event-Triggered Control of Port-Hamiltonian Systems Under Time-Delay Communication by Aranda-Escolástico, Ernesto, Colombo, Leonardo J., Guinaldo, María, Visioli, Antonio

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Symmetries and periodic orbits in simple hybrid Routhian systems by Colombo, Leonardo J., Eyrea Irazú, María Emma

“…Symmetries are ubiquitous in a wide range of nonlinear systems. Particularly in systems whose dynamics is determined by a Lagrangian or Hamiltonian function…”
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Forced Variational Integrators for the Formation Control of Multiagent Systems by Colombo, Leonardo Jesus, Garcia de Marina, Hector

“…Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described…”
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Reduction by Symmetry and Optimal Control with Broken Symmetries on Riemannian Manifolds by Goodman, Jacob R, Colombo, Leonardo J

“…This paper studies the reduction by symmetry of variational problems on Lie groups and Riemannian homogeneous spaces. We derive the reduced equations of motion…”
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On the integrability of hybrid Hamiltonian systems by López-Gordón, Asier, Colombo, Leonardo J

“…IFAC-PapersOnLine, Volume 58, Issue 6, 2024, Pages 83-88 A hybrid system is a system whose dynamics are controlled by a mixture of both continuous and discrete…”
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Nonholonomic reduction for mechanical systems with collisions by Abella, Álvaro Rodríguez, Colombo, Leonardo J

“…This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold…”
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Reduction of Sufficient Conditions in Variational Obstacle Avoidance Problems by Goodman, Jacob R, Colombo, Leonardo J

“…This paper studies sufficient conditions in a variational obstacle avoidance problem on complete Riemannian manifolds. That is, we minimize an action…”
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