Forced variational integrators are given by the discretization of the Lagrange-d'Alembert
principle for systems subject to external forces, and have proved useful for numerical …

We address the problem of optimal path planning for a Dubins-type nonholonomic vehicle in
the presence of obstacles. Most current approaches are either split hierarchically into global …

Motivated by recent developments in Hamiltonian variational principles, Hamiltonian
variational integrators, and their applications such as to optimization and control, we present …

We study the tracking of a trajectory for a nonholonomic system by recasting the problem as
an optimal control problem. The cost function is chosen to minimize the error in positions …

Necessary conditions for existence of normal extremals in optimal control of systems subject
to nonholonomic constraints are derived as solutions of a constrained second order …

Geometric mechanics is a branch of mathematics that studies classical mechanics of
particles and fields from the point of view of geometry and its relation to symmetry. One of its …

We address the problem of optimal path planning for a simple nonholonomic vehicle in the
presence of obstacles. Most current approaches are either split hierarchically into global …

Geometric mechanics is a branch of mathematics that studies classical mechanics of
particles and fields from the point of view of geometry and its relation to symmetry. One of its …