Nonholonomic systems provide an important class of mechanical control systems. One
reason for this importance is that nonintegrability is essential to both the mechanics and the …

Page 1 49 Francesco Bullo Andrew D. Lewis TEXTS IN APPLIED MATHEMATICS
Geometric Control of Mechanical Systems Modeling, Analysis, and Design for Simple …

Implicit representations can provide simple descriptions of relatively complex shapes and
can in many cases be a good choice when designing stable shape processing algorithms …

One approach to parametric and adaptive model reduction is via the interpolation of
orthogonal bases, subspaces or positive definite system matrices. In all these cases, the …

We present a general framework for the control of Lagrangian systems with as many inputs
as degrees of freedom. Relying on the geometry of mechanical systems on manifolds, we …

Neural samplers such as variational autoencoders (VAEs) or generative adversarial
networks (GANs) approximate distributions by transforming samples from a simple random …

This article introduces a method for computing weighted averages on spheres based on
least squares minimization that respects spherical distance. We prove existence and …

We consider the dynamic interpolation problem for nonlinear control systems modeled by
second-order differential equations whose configuration space is a Riemannian manifold M …

This paper addresses the problem of generating smooth trajectories between an initial and a
final position and orientation in space. The main idea is to define a functional depending on …

We present an algorithm for generating a twice-differentiable curve on the rotation group SO
(3) that interpolated a given ordered set of rotation matrices at their specified knot times. In …