Related papers: A Hybrid Modelling Approach for Aerial Manipulator…
We develop a systematic information-theoretic framework for quantification and mitigation of error in probabilistic Lagrangian (i.e., path-based) predictions which are obtained from dynamical systems generated by uncertain (Eulerian) vector…
This work is devoted to giving a geometric framework for describing higher-order non-autonomous mechanical systems. The starting point is to extend the Lagrangian-Hamiltonian unified formalism of Skinner and Rusk for these kinds of systems,…
Hybrid quantum-classical algorithms are among the most promising systems to implement quantum computing under the Noisy-Intermediate Scale Quantum (NISQ) technology. In this paper, at first, we investigate a quantum dynamics algorithm for…
This paper introduces a general framework for solving constrained convex quaternion optimization problems in the quaternion domain. To soundly derive these new results, the proposed approach leverages the recently developed generalized…
This article presents a unified synchronization framework with application to precision formation flying spacecraft. Central to the proposed innovation, in applying synchronization to both translational and rotational dynamics in the…
This paper presents a mathematic dynamic model of a quadrotor unmanned aerial vehicle (QUAV) by using the symbolic regression approach and then proposes a hierarchical control scheme for trajectory tracking. The symbolic regression approach…
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a sparse nonlinear program, and second the corresponding solver…
This paper presents a geometric framework for analysis of dynamics of flapping wing micro aerial vehicles (FWMAV) which achieve locomotion in the special Euclidean group SE(3) using internal shape changes. We review the special structure of…
Quadrotors are extremely agile, so much in fact, that classic first-principle-models come to their limits. Aerodynamic effects, while insignificant at low speeds, become the dominant model defect during high speeds or agile maneuvers.…
This paper aims to design an optimal stability controller for a point to point trajectory tracking 3 degree of freedom articulated manipulator. The DH convention is used to obtain the forward and inverse kinematics of the manipulator. The…
Constrained blackbox optimization is a difficult problem, with most approaches coming from the mathematical programming literature. The statistical literature is sparse, especially in addressing problems with nontrivial constraints. This…
We derive the dynamics of several rigid bodies of arbitrary shape in a 2-dimensional inviscid and incompressible fluid, whose vorticity field is given by point vortices. We adopt the idea of Vankerschaver et al. (2009) to derive the…
Numerical methods that preserves geometric invariants of the system such as energy, momentum and symplectic form, are called geometric integrators. These include variational integrators as an important subclass of geometric integrators. The…
Hybrid dynamical systems pose significant challenges for effective planning and control, especially when additional constraints such as obstacle avoidance, state boundaries, and actuation limits are present. In this letter, we extend the…
The Euler-Lagrange equations (EL) are very important in the theoretical description of several physical systems. In this work we have used a simplified form of EL to study one-dimensional motions under the action of a constant force. From…
Rigid body dynamics on the rotation group have typically been represented in terms of rotation matrices, unit quaternions, or local coordinates, such as Euler angles. Due to the coordinate singularities associated with local coordinate…
his paper reviews modern geometrical dynamics and control of humanoid robots. This general Lagrangian and Hamiltonian formalism starts with a proper definition of humanoid's configuration manifold, which is a set of all robot's active joint…
We present both the Lagrangian and Hamiltonian procedures for treating higher-order equations of motion for mechanical models by adopting the Riemann-Liouville Fractional integral to describe their action. We point out and discuss its…
Non-convex functional constrained optimization problems have gained substantial attention in machine learning and data science, addressing broad requirements that typically go beyond the often performance-centric objectives. An influential…
This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…