A discrete geometric optimal control framework for systems with symmetries

MaRDI QIDQ3598934zbMATH OpenFDO

Authors Marin Kobilarov, Mathieu Desbrun, J. E. Marsden, Gaurav S. Sukhatme

Publication date 3 February 2009

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Robot dynamics and control of rigid bodies (70E60) Holonomic systems related to the dynamics of a system of particles (70F20)

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(19)

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• Optimal control problems with symmetry breaking cost functions
• Geometric pseudospectral method on \(SE(3)\) for rigid-body dynamics with application to aircraft
• Numerical trajectory optimization for stochastic mechanical systems
• The discrete-time geometric maximum principle
• Ultra-discretization of Nonlinear Control Systems with Spatial Symmetry
• scientific article; zbMATH DE number 4186487 (Why is no real title available?)
• A survey of motion planning algorithms from the perspective of autonomous UAV guidance
• Minimum-time optimal control of robotic manipulators based on Hamel's integrators
• A multi-objective approach to the design of low thrust space trajectories using optimal control
• Constrained trajectory optimization on matrix Lie groups via Lie-algebraic differential dynamic programming
• Solving optimal control problems by exploiting inherent dynamical systems structures

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Uses Software

• SNOPT

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