4 papers indexed here
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This paper studies intrinsic path following for fully actuated rigid-body attitude dynamics over a broad class of attitude paths, namely arbitrary smooth embedded closed curves on $\mathsf{SO}(3)$. We construct a tangential--transverse state decomposition on a tubular neighborhood using normal and pullback bundle geome...
This paper studies decentralized safe path following for multiple quadrotors on intersecting paths, where safety requires both collision avoidance and strict adherence to pre-assigned routes. The proposed controller reformulates transverse feedback linearization as a constrained quadratic program with four equality con...
This paper studies path-following control for a kinematic unicycle evolving on a smooth manifold embedded in \(\mathbb{R}^3\). The objective is to stabilize a one-dimensional path on the manifold without imposing a temporal parameterization, thereby distinguishing the problem from trajectory tracking. Working in a geom...
We establish the equivalence between the stochastic optimal control and path space formulations of the Schr\"odinger bridge problem (SBP) for the kinematic equation on a compact connected Lie group. Using the geometric concepts of horizontal lift and stochastic anti-development, we derive a Girsanov-type change-of-meas...
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