Symmetry Reduction in Optimal Control of Multiagent Systems on Lie Groups

DOI10.1109/TAC.2020.3004795MaRDI QIDQ5853922zbMATH OpenOpenAlexWikidataFDO

Authors Leonardo Colombo, Dimos V. Dimarogonas

Publication date 12 March 2021

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2011.12234

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Cited in

(5)

• Collision-avoiding formation for multiple Euler-Lagrange systems against external disturbances and actuator faults
• Lie-Poisson reduction for optimal control of left-invariant control systems with subgroup symmetry
• Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups
• Variational unscented Kalman filter on matrix Lie groups
• Variational principle for stochastic nonholonomic systems. I: Continuous-time formulation

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