Coordinated motion design on Lie groups

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dc.creatorSarlette, Alain
dc.creatorBonnabel, Silvère
dc.creatorSepulchre, Rodolphe
dc.date2008-07-28
dc.date.accessioned2026-07-07T09:53:17Z
dc.date.available2026-07-07T09:53:17Z
dc.descriptionThe present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integrator dynamics. It thereby shows that coordination can be studied in a systematic way once the Lie group geometry of the configuration space is well characterized. This allows among others to retrieve control laws in the literature for particular examples. A link with Brockett's double bracket flows is also made. The concepts are illustrated on SO(3), SE(2) and SE(3).
dc.descriptionSubmitted
dc.identifierhttps://arxiv.org/abs/0807.4416
dc.identifierhttp://arxiv.org/abs/0807.4416
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/165899
dc.subjectOptimization and Control
dc.subjectDifferential Geometry
dc.subject34H05;93C10
dc.titleCoordinated motion design on Lie groups
dc.typetext

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