no code implementations • 30 Jan 2024 • Matthew Hampsey, Pieter van Goor, Ravi Banavar, Robert Mahony
In this paper, we propose a group structure on the cotangent bundle of a Lie group and leverage this to define momentum and configuration errors for trajectory tracking drawing on recent work on equivariant observer design.
no code implementations • 6 Nov 2023 • Matthew Hampsey, Pieter van Goor, Robert Mahony
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades.
no code implementations • 13 Nov 2022 • Matthew Hampsey, Pieter van Goor, Robert Mahony
Accurate tracking of planned trajectories in the presence of perturbations is an important problem in control and robotics.
