Dynamic interpolation for obstacle avoidance on Riemannian manifolds
TLDR
In this article, the authors studied dynamic interpolation for obstacle avoidance, which is a problem that consists of minimising a suitable energy functional among a set of admissible curves subject to various constraints.Abstract:
This work is devoted to studying dynamic interpolation for obstacle avoidance. This is a problem that consists of minimising a suitable energy functional among a set of admissible curves subject to...read more
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Journal ArticleDOI
Collision Avoidance of Multiagent Systems on Riemannian Manifolds
TL;DR: In this paper , the authors studied variational collision avoidance problems for multiagent systems on complete Riemannian manifolds, and provided conditions under which it is possible to ensure that agents will avoid collision within some desired tolerance.
Proceedings ArticleDOI
Adaptive Backstepping of Synergistic Hybrid Feedbacks with Application to Obstacle Avoidance
TL;DR: The hybrid controller induced by a Synergistic Lyapunov Function and Feedback pair relative to a compact set can be extended to the case where the original affine control system is subject to a class of additive disturbances known as matched uncertainties, provided that the estimator dynamics do not add new equilibria to the closed-loop system.
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Variational point-obstacle avoidance on Riemannian manifolds
TL;DR: In this paper, a variational point-obstacle avoidance problem on complete Riemannian manifolds is studied, which consists of minimizing an energy functional depending on the velocity, covariant acceleration and a repulsive potential function used to avoid an static obstacle.
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Variational point-obstacle avoidance on Riemannian manifolds
TL;DR: This paper derives the dynamical equations for stationary paths of the variational problem, in particular on compact connected Lie groups and Riemannian symmetric spaces.
Journal ArticleDOI
Local minimizers for variational obstacle avoidance on Riemannian manifolds
TL;DR: In this paper , a variational obstacle avoidance problem on complete Riemannian manifolds is studied, where the goal is to minimize an action functional, among a set of admissible curves, which depends on an artificial potential function used to avoid obstacles.
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