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

817

Scholar Citations

14

Scholar h-index

26

Scholar i10-index

RECENT SCHOLAR PUBLICATIONS

  • The Interplay Between Symmetries and Impact Effects on Hybrid Mechanical Systems
    W Clark, L Colombo, A Bloch
    arXiv preprint arXiv:2403.12842 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

  • Reduction by Symmetry and Optimal Control with Broken Symmetries on Riemannian Manifolds
    JR Goodman, LJ Colombo
    arXiv preprint arXiv:2401.01129 2024

  • Reduction by Symmetry in Obstacle Avoidance Problems on Riemannian Manifolds
    JR Goodman, LJ Colombo
    SIAM Journal of Applied Algebra and Geometry 8 (1), 26-53 2024

  • Event-triggered Control of Port-Hamiltonian Systems under Time-delay Communication
    E Aranda-Escolstico, LJ Colombo, M Guinaldo, A Visioli
    IEEE Control Systems Letters 8, 175-180 2024

  • Virtual Constraints on Lie groups
    E Stratoglou, AA Simoes, A Bloch, L Colombo
    arXiv preprint arXiv:2312.17531 2023

  • On the integrability of hybrid Hamiltonian systems
    A Lpez-Gordn, LJ Colombo
    arXiv preprint arXiv:2312.12152 2023

  • Hamel equations and quasivelocities for nonholonomic systems with inequality constraints
    A Anahory Simoes, L Colombo
    2023 62nd IEEE Conference on Decision and Control (CDC), 5741-5746 2023

  • Higher-order retraction maps and construction of numerical methods for optimal control of mechanical systems
    A Anahory Simoes, M Barbero Lin, L Colombo, D Martn de Diego
    2023 62nd IEEE Conference on Decision and Control (CDC), 3288-3295 2023

  • An energy-momentum method for ordinary differential equations with an underlying -polysymplectic manifold
    L Colombo, J de Lucas, X Rivas, BM Zawora
    arXiv preprint arXiv:2311.15035 2023

  • Nonholonomic reduction for mechanical systems with collisions
     Rodrguez Abella, LJ Colombo
    arXiv e-prints, arXiv: 2311.07707 2023

  • Implicit Nonholonomic Mechanics with Collisions
     Rodrguez Abella, L Colombo
    arXiv e-prints, arXiv: 2311.02614 2023

  • Optimal Control with Obstacle Avoidance for Incompressible Ideal Flows of an Inviscid Fluid
    A Anahory Simoes, A Bloch, L Colombo
    arXiv e-prints, arXiv: 2311.01774 2023

  • Reduction of Necessary Conditions for the Variational Collision Avoidance Problem
    JR Goodman, LJ Colombo
    arXiv preprint arXiv:2310.18389 2023

  • Reduction of Sufficient Conditions in Variational Obstacle Avoidance Problems
    JR Goodman, LJ Colombo
    arXiv preprint arXiv:2310.18057 2023

  • 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

  • On the Geometry of Virtual Nonlinear Nonholonomic Constraints
    E Stratoglou, AA Simoes, A Bloch, LJ Colombo
    arXiv preprint arXiv:2310.01849 2023

  • Learning-Based Fault-Tolerant Control for an Hexarotor with Model Uncertainty
    LJ Colombo, JI Giribet
    IEEE Transactions on Control Systems Technology, 1-8 2023

  • Virtual Nonholonomic Constraints: A Geometric Approach
    A Anahory Simoes, E Stratoglou, A Bloch, LJ Colombo
    Automatica 155, 111166 2023

  • Contact formalism for dissipative mechanical systems on Lie algebroids
    A Anahory Simoes, L Colombo, M de Leon, M Salgado, S Souto
    arXiv e-prints, arXiv: 2308.00990 2023

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: 58

  • 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: 52

  • Dynamic interpolation for obstacle avoidance on Riemannian manifolds
    A Bloch, M Camarinha, LJ Colombo
    International Journal of Control 94 (3), 588-600 2021
    Citations: 42

  • 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: 35

  • 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: 32

  • 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: 23

  • 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: 19

  • Higher-order discrete variational problems with constraints
    L Colombo, D Martn de Diego, M Zuccalli
    Journal of Mathematical Physics 54 (9) 2013
    Citations: 19

  • Variational point-obstacle avoidance on Riemannian manifolds
    A Bloch, M Camarinha, L Colombo
    Mathematics of Control, Signals, and Systems 33, 109–121 2021
    Citations: 18

  • 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

  • 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: 18

  • 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: 17

  • A Poincar-Bendixson Theorem for Hybrid Systems
    W Clark, A Bloch, L Colombo
    Mathematical Control & Related Fields 10 (1), 27-45 2020
    Citations: 15

  • 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: 15

  • 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: 14

  • 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: 14

  • A variational integrator for the distance-based formation control of multi-agent systems
    LJ Colombo, HG de Marina
    IFAC-PapersOnLine 51 (23), 76-81 2018
    Citations: 14

  • Second-order constrained variational problems on Lie algebroids: applications to optimal control
    L Colombo
    Jornal of Geometric Mechanics 9 (1), 1-45 2017
    Citations: 14

  • Collision avoidance of multiagent systems on Riemannian manifolds
    JR Goodman, LJ Colombo
    SIAM Journal on Control and Optimization 60 (1), 168-188 2022
    Citations: 13

  • Symmetries and periodic orbits in simple hybrid Routhian systems
    LJ Colombo, MEE Iraz
    Nonlinear Analysis: Hybrid Systems 36, 100857 2020
    Citations: 13