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Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage
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 simulation studies of complex dynamical systems.
Variational integrators for non-autonomous systems with applications to stabilization of multi-agent formations
Numerical methods that preserve geometric invariants of the system, such as energy, momentum or the symplectic form, are called geometric integrators.
Safe Online Learning-based Formation Control of Multi-Agent Systems with Gaussian Processes
Formation control algorithms for multi-agent systems have gained much attention in the recent years due to the increasing amount of mobile and aerial robotic swarms.
Online learning-based trajectory tracking for underactuated vehicles with uncertain dynamics
To overcome this issue, we present a tracking control law for underactuated rigid-body dynamics using an online learning-based oracle for the prediction of the unknown dynamics.
