Jorge Cortés


Optimal control for nonholonomic systems with symmetry
J. Cortés, S. Martínez
Proceedings of the 39th IEEE Int. Conf. Decision and Control, Sydney, Australia, 2000, pp. 5216-5218


We study the optimal control problem for nonholonomic systems with symmetry. This work is motivated by the idea of taking advantage of the geometric structure exhibited by the optimal equations to integrate them.

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Mechanical and Aerospace Engineering, University of California, San Diego
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