Leonardo Colombo

@upm-csic.es

Center for Automation and Robotics
Spanish National Research Council



              

https://researchid.co/leo.colombo

RESEARCH INTERESTS

Geometric Mechanics, Geometric Control, Non-parametric models

988

Scholar Citations

16

Scholar h-index

35

Scholar i10-index

RECENT SCHOLAR PUBLICATIONS

  • Retraction maps in optimal control of nonholonomic systems
    AA Simoes, MB Lin, A Bloch, L Colombo, DM de Diego
    arXiv preprint arXiv:2504.00808 2025

  • Virtual nonlinear nonholonomic constraints from a symplectic point of view
    E Stratoglou, AA Simoes, A Bloch, L Colombo
    arXiv preprint arXiv:2504.00866 2025

  • An Energy–Momentum Method for Ordinary Differential Equations with an Underlying k-Polysymplectic Manifold
    L Colombo, J de Lucas, X Rivas, BM Zawora
    Journal of Nonlinear Science 35 (2), 42 2025

  • Reduction of hybrid Hamiltonian systems with non-equivariant momentum maps
    L Colombo, MEE Iraz, ME Garca, A Lpez-Gordn, M Zuccalli
    arXiv preprint arXiv:2503.22290 2025

  • Variational Collision Integrators for Nonholonomic Lagrangian Systems
    R Abella, L Colombo
    arXiv preprint arXiv:2503.19724 2025

  • Variational Collision Integrators for Nonholonomic Lagrangian Systems
    L Colombo
    arXiv e-prints, arXiv: 2503.19724 2025

  • Contact formalism for dissipative mechanical systems on Lie algebroids
    A Anahory Simoes, L Colombo, M de Len, M Salgado, S Souto
    Annali di Matematica Pura ed Applicata (1923-), 1-34 2025

  • Homogeneous bi-Hamiltonian structures and integrable contact systems
    L Colombo, M de Len, MEE Iraz, A Lpez-Gordn
    arXiv preprint arXiv:2502.17269 2025

  • Variational integrators for optimal control of foldable drones
    L Colombo, J Giribet, DM de Diego
    arXiv preprint arXiv:2502.05692 2025

  • Geometric Stabilization of Virtual Nonlinear Nonholonomic Constraints
    E Stratoglou, AA Simoes, A Bloch, L Colombo
    arXiv preprint arXiv:2502.03902 2025

  • Reduction by symmetries of contact mechanical systems on Lie groups
    A Anahory, LJ Colombo, M de Leon, JC Marrero, DM de Diego, E Padrn
    SIAM Journal on Applied Algebra and Geometry 8 (4), 821-845 2024

  • On the geometry of virtual nonlinear nonholonomic constraints
    E Stratoglou, AA Simoes, A Bloch, LJ Colombo
    IEEE Transactions on Automatic Control 2024

  • Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces
    E Stratoglou, AA Simoes, A Bloch, LJ Colombo
    arXiv preprint arXiv:2411.05485 2024

  • Geometric stabilization of virtual linear nonholonomic constraints
    A Anahory Simoes, A Bloch, L Colombo, E Stratoglou
    arXiv e-prints, arXiv: 2411.01692 2024

  • Efficient Endangered Deer Species Monitoring with UAV Aerial Imagery and Deep Learning
    A Roca, G Torre, JI Giribet, G Castro, L Colombo, I Mas, J Pereira
    2024 IEEE Biennial Congress of Argentina (ARGENCON), 1-8 2024

  • Symmetry reduction and reconstruction in contact geometry and Lagrange-Poincar-Herglotz equations
    A Anahory Simoes, L Colombo, M de Len, M Salgado, S Souto
    Available at SSRN 4922364 2024

  • The interplay between symmetries and impact effects on hybrid mechanical systems*
    W Clark, L Colombo, A Bloch
    2024 European Control Conference (ECC), 2812-2817 2024

  • Comparison of two numerical methods for Riemannian cubic polynomials on Stiefel manifolds
    A Anahory Simoes, L Colombo, F Silva Leite
    arXiv e-prints, arXiv: 2404.19407 2024

  • Learning-Based Fault-Tolerant Control for an Hexarotor with Model Uncertainty
    LJ Colombo, JI Giribet
    IEEE Transactions on Control Systems Technology 32 (2), 672 - 679 2024

  • Euler–Lagrange–Herglotz equations on Lie algebroids
    A Anahory Simoes, L Colombo, M de Len, M Salgado, S Souto
    Analysis and Mathematical Physics 14 (1), 3 2024

MOST CITED SCHOLAR PUBLICATIONS

  • Higher-order variational problems on Lie groups and optimal control applications
    L Colombo, DM de Diego
    Journal of Geometric Mechanics 6 (4), 451-478 2014
    Citations: 60

  • Optimal control of underactuated mechanical systems: A geometric approach
    L Colombo, D Martn De Diego, M Zuccalli
    Journal of Mathematical Physics 51 (8) 2010
    Citations: 55

  • Dynamic interpolation for obstacle avoidance on Riemannian manifolds
    A Bloch, M Camarinha, LJ Colombo
    International Journal of Control 94 (3), 588-600 2021
    Citations: 45

  • A geometric approach to the optimal control of nonholonomic mechanical systems
    A Bloch, L Colombo, R Gupta, DM De Diego
    Analysis and geometry in control theory and its applications, 35-64 2015
    Citations: 39

  • Geometric integrators for higher-order variational systems and their application to optimal control
    L Colombo, S Ferraro, D Martin de Diego
    Journal of Nonlinear Science 26, 1615-1650 2016
    Citations: 38

  • Variational obstacle avoidance problem on Riemannian manifolds
    A Bloch, M Camarinha, L Colombo
    Decision and Control (CDC), 2017 IEEE 56th Annual Conference on., 145-150 2017
    Citations: 24

  • Geometric Hamilton–Jacobi theory for higher-order autonomous systems
    L Colombo, M De Len, PD Prieto-Martnez, N Romn-Roy
    Journal of Physics A: Mathematical and Theoretical 47 (23), 235203 2014
    Citations: 21

  • Geometric control for load transportation with quadrotor uavs by elastic cables
    JR Goodman, T Beckers, LJ Colombo
    IEEE Transactions on Control Systems Technology 31 (6), 2848-2862 2023
    Citations: 20

  • Variational collision avoidance problems on Riemannian manifolds
    M Assif, R Banavar, A Bloch, M Camarinha, L Colombo
    2018 IEEE conference on decision and control (CDC), 2791-2796 2018
    Citations: 20

  • Higher-order discrete variational problems with constraints
    L Colombo, D Martn de Diego, M Zuccalli
    Journal of Mathematical Physics 54 (9) 2013
    Citations: 20

  • Variational point-obstacle avoidance on Riemannian manifolds
    A Bloch, M Camarinha, L Colombo
    Mathematics of Control, Signals, and Systems 33, 109–121 2021
    Citations: 19

  • Discrete second-order Euler–Poincar equations: applications to optimal control
    L Colombo, F Jimnez, DM De Diego
    international Journal of Geometric methods in modern physics 9 (04), 1250037 2012
    Citations: 19

  • Motion feasibility conditions for multiagent control systems on Lie groups
    LJ Colombo, DV Dimarogonas
    IEEE Transactions on Control of Network Systems 7 (1), 493-502 2019
    Citations: 18

  • Geometric Control of two Quadrotors Carrying a Rigid Rod with Elastic Cables
    JR Goodman, LJ Colombo
    Journal of Nonlinear Science 32 2022
    Citations: 17

  • Variational integrators for underactuated mechanical control systems with symmetries
    L Colombo, F Jimnez, DM de Diego
    Journal of Computational Dynamics 2 (2), 193-225 2015
    Citations: 17

  • Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds
    RS Chandrasekaran, LJ Colombo, M Camarinha, R Banavar, A Bloch
    2020 European Control Conference (ECC), 1689-1694 2020
    Citations: 16

  • On the Existence and Uniqueness of Poincar Maps for Systems with Impulse Effects
    J Goodman, L Colombo
    IEEE Transactions on Automatic Control 64 (4), 1815-1821 2020
    Citations: 16

  • Collision avoidance of multiagent systems on Riemannian manifolds
    JR Goodman, LJ Colombo
    SIAM Journal on Control and Optimization 60 (1), 168-188 2022
    Citations: 15

  • Second-order constrained variational problems on Lie algebroids: applications to optimal control
    L Colombo
    Jornal of Geometric Mechanics 9 (1), 1-45 2017
    Citations: 15

  • Online learning-based trajectory tracking for underactuated vehicles with uncertain dynamics
    T Beckers, LJ Colombo, S Hirche, GJ Pappas
    IEEE Control Systems Letters 6, 2090-2095 2021
    Citations: 14