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    A Discrete Geometric Optimal Control Framework for Systems with Symmetries
    15 years 9 days ago
    A Discrete Geometric Optimal Control Framework for Systems with Symmetries
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    — This paper studies the optimal motion control of mechanical systems through a discrete geometric approach. At the core of our formulation is a discrete Lagrange-d’AlembertPon...
    Marin Kobilarov, Mathieu Desbrun, Jerrold E. Marsd...
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