Publications

10 years of

at FSR group.

10 years of investigation at FSR group

2025

Automated Seeding in Hydroponic Greenhouse With a Dual-Arm Robotic System. Rodríguez-Nieto, D.; Navas, E.; and Fernández, R. IEEE Access, 13: 30745–30761. 2025.
An Energy-Momentum Method for Ordinary Differential Equations with an Underlying k-Polysymplectic Manifold. Colombo, L.; de Lucas, J.; Rivas, X.; and Zawora, B. M. J. Nonlinear Sci., 35(2): 42. 2025.

2024

An Approach to Soft Jumping Robots. Navas, E.; Blanco, K.; Rodríguez-Nieto, D.; and Fernández, R. In Berns, K.; Tokhi, M. O.; Roennau, A.; Silva, M. F.; and Dillmann, R., editor(s), Walking Robots into Real World – Proceedings of the CLAWAR 2024 Conference, Volume 2, Kaiserslautern, Germany, 3-5 September 2024, volume 1115, of Lecture Notes in Networks and Systems, pages 81–91, 2024.
Soft Bellow-Based 3D Printed Robot for in-Pipe Inspection Applications. Blanco, K.; Navas, E.; Rodríguez-Nieto, D.; Emmi, L.; and Fernández, R. In Marques, L.; and Ferre, M., editor(s), 7th Iberian Robotics Conference, ROBOT 2024, Madrid, Spain, November 6-8, 2024, pages 1–6, 2024.
Design and Implementation of an Innovative Soft Tool for Robotic Pollination. Navas, E.; Blanco, K.; Rodríguez-Nieto, D.; and Fernández, R. In Marques, L.; and Ferre, M., editor(s), 7th Iberian Robotics Conference, ROBOT 2024, Madrid, Spain, November 6-8, 2024, pages 1–6, 2024.
Manufacturing of 3D Printed Soft Grippers: A Review. Blanco, K.; Navas, E.; Emmi, L.; and Fernández, R. IEEE Access, 12: 30434–30451. 2024.
A modular sensing system with CANBUS communication for assisted navigation of an agricultural mobile robot. Shamshiri, R. R.; Navas, E.; Dworak, V.; Cheeín, F. A. A.; and Weltzien, C. Comput. Electron. Agric., 223: 109112. 2024.
STELO: A New Modular Robotic Gait Device for Acquired Brain Injury – Exploring Its Usability. Cumplido-Trasmonte, C.; Barquín-Santos, E.; Gor-García-Fogeda, M. D.; Plaza-Flores, A.; García-Varela, D.; Ibáñez-Herrán, L.; González-Alted, C.; Díaz-Valles, P.; López-Pascua, C.; Castrillo-Calvillo, A.; Rueda, F. M.; Fernández, R.; and Garcia-Armada, E. Sensors, 24(1): 198. 2024.
Modularity Implications of an Overground Exoskeleton on Plantar Pressures, Strength, and Spasticity in Persons with Acquired Brain Injury. Cumplido-Trasmonte, C.; Barquín-Santos, E.; Gor-García-Fogeda, M. D.; Plaza-Flores, A.; García-Varela, D.; Ibáñez-Herrán, L.; González-Alted, C.; Díaz-Valles, P.; López-Pascua, C.; Castrillo-Calvillo, A.; Rueda, F. M.; Fernández, R.; and Garcia-Armada, E. Sensors, 24(5): 1435. 2024.
Event-Triggered Control of Port-Hamiltonian Systems Under Time-Delay Communication. Aranda-Escolástico, E.; Colombo, L. J.; Guinaldo, M.; and Visioli, A. IEEE Control. Syst. Lett., 8: 175–180. 2024.
Reduction by Symmetry in Obstacle Avoidance Problems on Riemannian Manifolds. Goodman, J. R.; and Colombo, L. J. SIAM J. Appl. Algebra Geom., 8(1): 26–53. 2024.
Reduction by Symmetries of Contact Mechanical Systems on Lie Groups. Simões, A. A.; Colombo, L. J.; de León, M.; Marrero, J. C.; de Diego, D. M.; and Padrón, E. SIAM J. Appl. Algebra Geom., 8(4): 821–845. 2024.
Learning-Based Fault-Tolerant Control for an Hexarotor With Model Uncertainty. Colombo, L. J.; and Giribet, J. I. IEEE Trans. Control. Syst. Technol., 32(2): 672–679. 2024.
The interplay between symmetries and impact effects on hybrid mechanical systems. Clark, W. A.; Colombo, L.; and Bloch, A. M. In European Control Conference, ECC 2024, Stockholm, Sweden, June 25-28, 2024, pages 2812–2817, 2024.
Reduction by Symmetry and Optimal Control with Broken Symmetries on Riemannian Manifolds. Goodman, J. R.; and Colombo, L. J. CoRR, abs/2401.01129. 2024.
The Interplay Between Symmetries and Impact Effects on Hybrid Mechanical Systems. Clark, W. A.; Colombo, L.; and Bloch, A. M. CoRR, abs/2403.12842. 2024.
Comparison of two numerical methods for Riemannian cubic polynomials on Stiefel manifolds. Simoes, A. A.; Colombo, L.; and Leite, F. S. CoRR, abs/2404.19407. 2024.
An Efficient Guiding Manager for Ground Mobile Robots in Agriculture. Emmi, L.; Fernández, R.; and de Santos, P. G. Robotics, 13(1): 6. 2024.

2023

An Approach to Computer Vision Control of a Parallel Soft Gripper. Navas, E.; Blanco, K.; Rodríguez-Nieto, D.; and Fernández, R. In Marques, L.; Santos, C.; Lima, J. L.; Tardioli, D.; and Ferre, M., editor(s), Robot 2023: Sixth Iberian Robotics Conference – Advances in Robotics, Volume 1, Coimbra, Portugal, 22-24 November 2023, volume 976, of Lecture Notes in Networks and Systems, pages 327–337, 2023.
Soft gripper for small fruits harvesting and pick and place operations. Navas, E.; Shamshiri, R. R.; Dworak, V.; Weltzien, C.; and Fernández, R. Frontiers Robotics AI, 10. 2023.
An overview of visual servoing for robotic manipulators in digital agriculture. Shamshiri, R. R.; Dworak, V.; ShokrianZeini, M.; Navas, E.; Käthner, J.; Höfner, N.; and Weltzien, C. In Hoffmann, C.; Stein, A.; Ruckelshausen, A.; Müller, H.; Steckel, T.; and Floto, H., editor(s), 43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 13.-14. Februar 2023, Osnabrück, Germany, volume P-330, of LNI, pages 231–241, 2023.
An approach to the automation of blueberry harvesting using soft robotics. Navas, E.; Dworak, V.; Weltzien, C.; Fernández, R.; Zeini, M. S.; Käthner, J.; and Shamshiri, R. R. In Hoffmann, C.; Stein, A.; Ruckelshausen, A.; Müller, H.; Steckel, T.; and Floto, H., editor(s), 43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 13.-14. Februar 2023, Osnabrück, Germany, volume P-330, of LNI, pages 435–440, 2023.
Overview of control systems for robotic harvesting of sweet peppers and apples. Zeini, M. S.; Shamshiri, R. R.; Dworak, V.; Käthner, J.; Höfner, N.; Navas, E.; and Weltzien, C. In Hoffmann, C.; Stein, A.; Ruckelshausen, A.; Müller, H.; Steckel, T.; and Floto, H., editor(s), 43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 13.-14. Februar 2023, Osnabrück, Germany, volume P-330, of LNI, pages 543–548, 2023.
Design of a Modular Soft Tool for Automatic Seed Sowing. Blanco, K.; Navas, E.; Emmi, L.; Rodriguez-Gonzalez, A. A.; and Fernández, R. In Marques, L.; Santos, C.; Lima, J. L.; Tardioli, D.; and Ferre, M., editor(s), Robot 2023: Sixth Iberian Robotics Conference – Advances in Robotics, Volume 1, Coimbra, Portugal, 22-24 November 2023, volume 976, of Lecture Notes in Networks and Systems, pages 363–374, 2023.
Virtual nonholonomic constraints: A geometric approach. Simoes, A. A.; Stratoglou, E.; Bloch, A. M.; and Colombo, L. J. Autom., 155: 111166. 2023.
Virtual Affine Nonholonomic Constraints. Stratoglou, E.; Simoes, A. A.; Bloch, A. M.; and Colombo, L. CoRR, abs/2301.03890. 2023.
On the Geometry of Virtual Nonlinear Nonholonomic Constraints. Stratoglou, E.; Simoes, A. A.; Bloch, A. M.; and Colombo, L. J. CoRR, abs/2310.01849. 2023.
Virtual Constraints on Lie groups. Stratoglou, E.; Simoes, A. A.; Bloch, A. M.; and Colombo, L. J. CoRR, abs/2312.17531. 2023.
Variational integrators for non-autonomous Lagrangian systems. Colombo, L.; Fernández, M. G.; and de Diego, D. M. J. Comput. Appl. Math., 424: 114966. 2023.
Geometric Control for Load Transportation With Quadrotor UAVs by Elastic Cables. Goodman, J. R.; Beckers, T.; and Colombo, L. J. IEEE Trans. Control. Syst. Technol., 31(6): 2848–2862. 2023.
Contracting Forced Lagrangian and Contact Lagrangian Systems: application to nonholonomic systems with symmetries. Simoes, A. A.; and Colombo, L. In American Control Conference, ACC 2023, San Diego, CA, USA, May 31 – June 2, 2023, pages 909–916, 2023.
Nonsmooth Herglotz variational principle. López-Gordón, A.; Colombo, L.; and de León, M. In American Control Conference, ACC 2023, San Diego, CA, USA, May 31 – June 2, 2023, pages 3376–3381, 2023.
Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage. Simoes, A. A.; López-Gordón, A.; Bloch, A. M.; and Colombo, L. In American Control Conference, ACC 2023, San Diego, CA, USA, May 31 – June 2, 2023, pages 4587–4592, 2023.
Higher-Order Retraction Maps and Construction of Numerical Methods for Optimal Control of Mechanical Systems. Simoes, A. A.; Barbero-Liñán, M.; Colombo, L.; and de Diego, D. M. In 62nd IEEE Conference on Decision and Control, CDC 2023, Singapore, December 13-15, 2023, pages 3288–3295, 2023.
Hamel Equations and Quasivelocities for Nonholonomic Systems with Inequality Constraints. Simoes, A. A.; and Colombo, L. In 62nd IEEE Conference on Decision and Control, CDC 2023, Singapore, December 13-15, 2023, pages 5741–5746, 2023.
A Loosely Coupled Architecture for INS/GNSS Integration with Tracking Loops Aiding. Pisoni, F.; Palella, N. M.; Grazia, D. D.; Colombo, L.; and Gogliettino, G. In IEEE International Workshop on Metrology for Automotive, MetroAutomotive 2023, Modena, Italy, June 28-30, 2023, pages 111–116, 2023.
Higher-order retraction maps and construction of numerical methods for optimal control of mechanical systems. Simoes, A. A.; Barbero-Liñán, M.; Colombo, L.; and de Diego, D. M. CoRR, abs/2303.17917. 2023.
Reduction of Sufficient Conditions in Variational Obstacle Avoidance Problems. Goodman, J. R.; and Colombo, L. J. CoRR, abs/2310.18057. 2023.
Reduction of Necessary Conditions for the Variational Collision Avoidance Problem. Goodman, J. R.; and Colombo, L. J. CoRR, abs/2310.18389. 2023.
Optimal Control with Obstacle Avoidance for Incompressible Ideal Flows of an Inviscid Fluid. Simoes, A. A.; Bloch, A. M.; and Colombo, L. CoRR, abs/2311.01774. 2023.
A Mission Planner for Autonomous Tasks in Farms. Emmi, L.; Cordova-Cardenas, R.; and de Santos, P. G. In Marques, L.; Santos, C.; Lima, J. L.; Tardioli, D.; and Ferre, M., editor(s), Robot 2023: Sixth Iberian Robotics Conference – Advances in Robotics, Volume 2, Coimbra, Portugal, 22-24 November 2023, volume 978, of Lecture Notes in Networks and Systems, pages 360–372, 2023.
An approach to the automation of blueberry harvesting using soft robotics. Navas, E.; Dworak, V.; Weltzien, C.; Fernández, R.; Zeini, M. S.; Käthner, J.; and Shamshiri, R. R. In Hoffmann, C.; Stein, A.; Ruckelshausen, A.; Müller, H.; Steckel, T.; and Floto, H., editor(s), 43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 13.-14. Februar 2023, Osnabrück, Germany, volume P-330, of LNI, pages 435–440, 2023.

2022

Towards Quality Control in Soft Actuators by Computer Vision. Navas, E.; Fernández, R.; Navas-Merlo, C.; Armada, M. A.; and de Santos, P. G. In Louro, L.; Fonseca, P.; Neto, P.; and Ventura, R., editor(s), IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2022, Santa Maria da Feira, Portugal, April 29-30, 2022, pages 1–6, 2022.
Optimal Control with Broken Symmetry of Multi-Agent Systems on Lie Groups. Stratoglou, E.; Colombo, L.; and Ohsawa, T. CoRR, abs/2204.06050. 2022.
Virtual Nonholonomic Constraints: A Geometric Approach. Simoes, A. A.; Stratoglou, E.; Bloch, A. M.; and Colombo, L. J. CoRR, abs/2207.01299. 2022.
Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups. Stratoglou, E.; Simoes, A. A.; and Colombo, L. J. CoRR, abs/2207.06806. 2022.
Distributed Event-Triggered Flocking Control of Lagrangian Systems. Aranda-Escolástico, E.; Colombo, L. J.; and Guinaldo, M. IEEE Control. Syst. Lett., 6: 1946–1951. 2022.
Online Learning-Based Trajectory Tracking for Underactuated Vehicles With Uncertain Dynamics. Beckers, T.; Colombo, L. J.; Hirche, S.; and Pappas, G. J. Control. Syst. Lett., 6: 2090–2095. 2022.
Geometric Control of Two Quadrotors Carrying a Rigid Rod with Elastic Cables. Goodman, J. R.; and Colombo, L. J. Nonlinear Sci., 32(5): 65. 2022.
Collision Avoidance of Multiagent Systems on Riemannian Manifolds. Goodman, J. R.; and Colombo, L. J. SIAM J. Control. Optim., 60(1): 168–188. 2022.
Learning-based Balancing of Model-based and Feedback Control for Second-order Mechanical Systems. Beckers, T.; Colombo, L. J.; Morari, M.; and Pappas, G. J. In 61st IEEE Conference on Decision and Control, CDC 2022, Cancun, Mexico, December 6-9, 2022, pages 4667–4673, 2022.
Learning Rigidity-based Flocking Control using Gaussian Processes with Probabilistic Stability Guarantees. Beckers, T.; Pappas, G. J.; and Colombo, L. J. In 61st IEEE Conference on Decision and Control, CDC 2022, Cancun, Mexico, December 6-9, 2022, pages 7254–7259, 2022.
Hybrid Routhian reduction for simple hybrid forced Lagrangian systems. Irazú, M. E. E.; López-Gordón, A.; de León, M.; and Colombo, L. J. In European Control Conference, ECC 2022, London, United Kingdom, July 12-15, 2022, pages 345–350, 2022.
Variational integrators for non-autonomous systems with applications to stabilization of multi-agent formations. Colombo, L.; Fernández, M. G.; and de Diego, D. M. CoRR, abs/2202.01471. 2022.
Learning-Based Fault-Tolerant Control for an Hexarotor with Model Uncertainty. Colombo, L. J.; Fernández, M. G.; and Giribet, J. I. CoRR, abs/2202.12736. 2022.
Event-triggered Control of Port-Hamiltonian Systems under Time-delay Communication. Aranda-Escolástico, E.; Colombo, L. J.; Guinaldo, M.; and Visioli, A. CoRR, abs/2207.06327. 2022.
Reduction by Symmetry in Obstacle Avoidance Problems on Riemannian Manifolds. Goodman, J. R.; and Colombo, L. J. CoRR, abs/2207.13574. 2022.
Nonsmooth Herglotz variational principle. López-Gordón, A.; Colombo, L.; and de León, M. CoRR, abs/2208.02033. 2022.
Contracting Forced Lagrangian and Contact Lagrangian Systems: application to nonholonomic systems with symmetries. Simoes, A. A.; and Colombo, L. CoRR, abs/2209.14149. 2022.
Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage. Simoes, A. A.; López-Gordón, A.; Bloch, A. M.; and Colombo, L. CoRR, abs/2209.14255. 2022.
Editorial: Robotics for smart farms. Emmi, L.; Fernández, R.; and Guerrero, J. M. Frontiers Robotics AI, 9. 2022.
Digital Representation of Smart Agricultural Environments for Robot Navigation. Emmi, L.; Parra, R.; and de Santos, P. G. In Theodoridis, A.; and Koutsou, S., editor(s), Proceedings of the 10th International Conference on Information and Communication Technologies in Agriculture, Food and Environment (HAICTA 2022), Athens, Greece, September 22-25, 2022, volume 3293, of CEUR Workshop Proceedings, pages 61–66, 2022.
Toward Autonomous Mobile Robot Navigation in Early-Stage Crop Growth. Emmi, L.; Herrera-Diaz, J.; and de Santos, P. G. In Gini, G.; Nijmeijer, H.; Burgard, W.; and Filev, D. P., editor(s), Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2022, Lisbon, Portugal, July 14-16, 2022, pages 411–418, 2022.

2021

Soft Grippers for Automatic Crop Harvesting: A Review. Navas, E.; Fernández, R.; Sepúlveda, D.; Armada, M. A.; and de Santos, P. G. Sensors, 21(8): 2689. 2021.
Soft Gripper for Robotic Harvesting in Precision Agriculture Applications. Navas, E.; Fernández, R.; Sepúlveda, D.; Armada, M. A.; and de Santos, P. G. In Santos, V.; Lau, N.; Neto, P.; and Lopes, A. C., editor(s), IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2021, Santa Maria da Feira, Portugal, April 28-29, 2021, pages 167–172, 2021.
Virtual Affine Nonholonomic Constraints. Stratoglou, E.; Simoes, A. A.; Bloch, A. M.; and Colombo, L. In Nielsen, F.; and Barbaresco, F., editor(s), Geometric Science of Information – 6th International Conference, GSI 2023, St. Malo, France, August 30 – September 1, 2023, Proceedings, Part II, volume 14072, of Lecture Notes in Computer Science, pages 89–96, 2021.
Structure preserving reduced attitude control of gyroscopes. Raj, N.; Colombo, L. J.; and Simha, A. Autom., 125: 109471. 2021.
A Data-Driven Method Based on Quadratic Programming for Distance-Based Formation Control of Euler-Lagrange Systems. Rodríguez, V. A.; Fernández, M. G.; Moreno, P.; and Colombo, L. IEEE Control. Syst. Lett., 5(1): 313–318. 2021.
Dynamic interpolation for obstacle avoidance on Riemannian manifolds. Bloch, A. M.; Camarinha, M.; and Colombo, L. J. Int. J. Control, 94(3): 588–600. 2021.
Variational point-obstacle avoidance on Riemannian manifolds. Bloch, A. M.; Camarinha, M.; and Colombo, L. Math. Control. Signals Syst., 33(1): 109–121. 2021.
Dual Quaternion Cluster-Space Formation Control. Giribet, J. I.; Colombo, L. J.; Moreno, P.; Mas, I.; and Dimarogonas, D. V. IEEE Robotics Autom. Lett., 6(4): 6789–6796. 2021.
Forced Variational Integrators for the Formation Control of Multiagent Systems. Colombo, L. J.; and de Marina, H. G. IEEE Trans. Control. Netw. Syst., 8(3): 1336–1347. 2021.
Online Learning-based Formation Control of Multi-Agent Systems with Gaussian Processes. Beckers, T.; Hirche, S.; and Colombo, L. In 2021 60th IEEE Conference on Decision and Control (CDC), Austin, TX, USA, December 14-17, 2021, pages 2197–2202, 2021.
Existence of Global Minimizer for Elastic Variational Obstacle Avoidance Problems on Riemannian Manifolds. Colombo, L.; and Goodman, J. R. In Nielsen, F.; and Barbaresco, F., editor(s), Geometric Science of Information – 6th International Conference, GSI 2023, St. Malo, France, August 30 – September 1, 2023, Proceedings, Part II, volume 14072, of Lecture Notes in Computer Science, pages 81–88, 2021.
Nonholonomic Systems with Inequality Constraints. Simoes, A. A.; and Colombo, L. In Nielsen, F.; and Barbaresco, F., editor(s), Geometric Science of Information – 6th International Conference, GSI 2023, St. Malo, France, August 30 – September 1, 2023, Proceedings, Part II, volume 14072, of Lecture Notes in Computer Science, pages 97–104, 2021.
A geometric path planning strategy based on variational calculus for the shape control of multi-agent Lagrangian systems. Nieto, O. Y.; and Colombo, L. In 29th Mediterranean Conference on Control and Automation, MED 2021, Bari, Italy, June 22-25, 2021, pages 1092–1099, 2021.
Safe Online Learning-based Formation Control of Multi-Agent Systems with Gaussian Processes. Beckers, T.; Hirche, S.; and Colombo, L. CoRR, abs/2104.00130. 2021.
Variational Collision Avoidance on Riemannian Manifolds. Goodman, J. R.; and Colombo, L. J. CoRR, abs/2104.04285. 2021.
Geometric Control of two Quadrotors Carrying a Rigid Rod with Elastic Cables. Goodman, J. R.; and Colombo, L. J. CoRR, abs/2104.06155. 2021.
Variational Obstacle Avoidance with Applications to Interpolation Problems in Hybrid Systems. Goodman, J. R.; and Colombo, L. J. CoRR, abs/2108.13238. 2021.
Geometric Control for Load Transportation with Quadrotor UAVs by Elastic Cables. Goodman, J. R.; Cely, J. S.; Beckers, T.; and Colombo, L. J. CoRR, abs/2111.00777. 2021.
Symplectic and Cosymplectic Reduction for simple hybrid forced mechanical systems with symmetries. Colombo, L. J.; de León, M.; Irazú, M. E. E.; and López-Gordón, A. CoRR, abs/2112.02573. 2021.
Learning Rigidity-based Flocking Control with Gaussian Processes. Fernández, M. G.; Beckers, T.; Pappas, G. J.; and Colombo, L. J. CoRR, abs/2112.07779. 2021.
Distributed event-triggered flocking control of Lagrangian systems. Aranda-Escolástico, E.; Colombo, L. J.; and Guinaldo, M. CoRR, abs/2112.08827. 2021.

2020

Robotic Aubergine Harvesting Using Dual-Arm Manipulation. Sepúlveda, D.; Fernández, R.; Navas, E.; Armada, M. A.; and de Santos, P. G. IEEE Access, 8: 121889–121904. 2020.
Geometric Optimal Trajectory Tracking of Nonholonomic Mechanical Systems. Colombo, L. J.; de Diego, D. M.; Nayak, A.; and de Almagro, R. S. M. SIAM J. Control. Optim., 58(3): 1652–1675. 2020.
On the Existence and Uniqueness of Poincaré Maps for Systems With Impulse Effects. Goodman, J. R.; and Colombo, L. J. IEEE Trans. Autom. Control., 65(4): 1815–1821. 2020.
Symmetry Reduction in Optimal Control of Multiagent Systems on Lie Groups. Colombo, L. J.; and Dimarogonas, D. V. IEEE Trans. Autom. Control., 65(11): 4973–4980. 2020.
Motion Feasibility Conditions for Multiagent Control Systems on Lie Groups. Colombo, L. J.; and Dimarogonas, D. V. IEEE Trans. Control. Netw. Syst., 7(1): 493–502. 2020.
Distributed targeted distance-based formation control for mechanical systems. Aranda-Escolástico, E.; Colombo, L. J.; and Guinaldo, M. In 18th European Control Conference, ECC 2020, Virtual Event, Russia, May 12-15, 2020, pages 172–177, 2020.
Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds. Chandrasekaran, R. S.; Colombo, L. J.; Camarinha, M.; Banavar, R. N.; and Bloch, A. M. In 18th European Control Conference, ECC 2020, Virtual Event, Russia, May 12-15, 2020, pages 1689–1694, 2020.
Symmetries and periodic orbits in simple hybrid Routhian systems. Colombo, L.; and Irazú, M. E. E. CoRR, abs/2001.08941. 2020.
Safe learning-based trajectory tracking for underactuated vehicles with partially unknown dynamics. Beckers, T.; Colombo, L.; and Hirche, S. CoRR, abs/2009.06689. 2020.
Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems. Colombo, L.; Moreno, P.; Ye, M.; de Marina, H. G.; and Cao, M. CoRR, abs/2009.14495. 2020.
Forced Variational Integrators for the Formation Control of Multi-Agent Systems. Colombo, L.; and de Marina, H. G. CoRR, abs/2010.00425. 2020.
Symmetry Reduction in Optimal Control of Multiagent Systems on Lie Groups. Colombo, L.; and Dimarogonas, D. V. CoRR, abs/2011.12234. 2020.
Structure Preserving Reduced Attitude Control of Gyroscopes. Raj, N.; Colombo, L. J.; and Simha, A. CoRR, abs/2012.05468. 2020.

2019

ROS Framework for Perception and Dual-Arm Manipulation in Unstructured Environments. Sepúlveda, D.; Fernández, R.; Navas, E.; de Santos, P. G.; and Armada, M. A. In Silva, M. F.; Lima, J. L.; Reis, L. P.; Sanfeliu, A.; and Tardioli, D., editor(s), Robot 2019: Fourth Iberian Robotics Conference – Advances in Robotics, Volume 2, Porto, Portugal, 20-22 November, 2019, volume 1093, of Advances in Intelligent Systems and Computing, pages 137–147, 2019.
Modular Dual-Arm Robot for Precision Harvesting. Navas, E.; Fernández, R.; Sepúlveda, D.; Armada, M. A.; and de Santos, P. G. In Silva, M. F.; Lima, J. L.; Reis, L. P.; Sanfeliu, A.; and Tardioli, D., editor(s), Robot 2019: Fourth Iberian Robotics Conference – Advances in Robotics, Volume 2, Porto, Portugal, 20-22 November, 2019, volume 1093, of Advances in Intelligent Systems and Computing, pages 148–158, 2019.
Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach. Nayak, A.; de Almagro, R. S. M.; Colombo, L.; and de Diego, D. M. In 2019 American Control Conference, ACC 2019, Philadelphia, PA, USA, July 10-12, 2019, pages 1924–1929, 2019.
On the observability of relative positions in left-invariant multi-agent control systems and its application to formation control. Colombo, L.; de Marina, H. G.; Barbero-Liñán, M.; and de Diego, D. M. In 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, December 11-13, 2019, pages 7333–7338, 2019.
Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach. Nayak, A.; de Almagro, R. S. M.; Colombo, L.; and de Diego, D. M. CoRR, abs/1901.10374. 2019.
Time-minimum control of quantum purity for 2-level Lindblad equations. Clark, W. A.; Bloch, A. M.; Colombo, L.; and Rooney, P. CoRR, abs/1904.10325. 2019.
On the observability of relative positions in left-invariant multi-agent control systems and its application to formation control. Colombo, L.; de Marina, H. G.; Barbero-Liñán, M.; and de Diego, D. M. CoRR, abs/1909.08914. 2019.
Variational point-obstacle avoidance on Riemannian manifolds. Bloch, A. M.; Camarinha, M.; and Colombo, L. CoRR, abs/1909.12321. 2019.
Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds. Chandrasekaran, R. S.; Colombo, L. J.; Camarinha, M.; Banavar, R. N.; and Bloch, A. M. CoRR, abs/1910.04995. 2019.

2018

Time reversal symmetries and zero dynamics for simple hybrid Hamiltonian control systems. Colombo, L.; Clark, W. A.; and Bloch, A. M. In 2018 Annual American Control Conference, ACC 2018, Milwaukee, WI, USA, June 27-29, 2018, pages 2218–2223, 2018.
Variational collision avoidance problems on Riemannian manifolds. K., M. A. P.; Banavar, R. N.; Bloch, A. M.; Camarinha, M.; and Colombo, L. In 57th IEEE Conference on Decision and Control, CDC 2018, Miami, FL, USA, December 17-19, 2018, pages 2791–2796, 2018.
Optimal Control of Left-Invariant Multi-Agent Systems with Asymmetric Formation Constraints. Colombo, L. J.; and Dimarogonas, D. V. In 16th European Control Conference, ECC 2018, Limassol, Cyprus, June 12-15, 2018, pages 1728–1733, 2018.
The variational discretizaton of the constrained higher-order Lagrange-Poincaré equations. Bloch, A. M.; Colombo, L.; and Jiménez, F. CoRR, abs/1801.00577. 2018.
Poincaré-Bendixson Theorem for Hybrid Systems. Clark, W. A.; Bloch, A. M.; and Colombo, L. CoRR, abs/1801.09014. 2018.
Variational Principles for Optimal Control of Left-Invariant Multi-Agent Systems with Asymmetric Formation Constraints. Colombo, L.; and Dimarogonas, D. V. CoRR, abs/1802.01224. 2018.
Variational collision avoidance problems on Riemannian manifolds. K., M. A. P.; Banavar, R. N.; Bloch, A. M.; Camarinha, M.; and Colombo, L. CoRR, abs/1804.00122. 2018.
Motion Feasibility Conditions for Multi-Agent Control Systems on Lie Groups. Colombo, L. J.; and Dimarogonas, D. V. CoRR, abs/1808.04612. 2018.
Dynamic interpolation for obstacle avoidance on Riemannian manifolds. Bloch, A. M.; Camarinha, M.; and Colombo, L. CoRR, abs/1809.03168. 2018.
On the Existence and Uniqueness of Poincaré Maps for Systems with Impulse Effects. Goodman, J. R.; and Colombo, L. CoRR, abs/1810.05426. 2018.
Automatic Detection of Field-Grown Cucumbers for Robotic Harvesting. Fernández, R.; Montes, H.; Surdilovic, J.; Surdilovic, D.; de Santos, P. G.; and Armada, M. A. IEEE Access, 6: 35512–35527. 2018.

2017

Optimal Control Problems with Symmetry Breaking Cost Functions. Bloch, A. M.; Colombo, L. J.; Gupta, R.; and Ohsawa, T. SIAM J. Appl. Algebra Geom., 1(1): 626–646. 2017.
Variational obstacle avoidance problem on riemannian manifolds. Bloch, A. M.; Camarinha, M.; and Colombo, L. In 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australia, December 12-15, 2017, pages 145–150, 2017.
Optimal control of quantum purity for n = 2 systems. Clark, W. A.; Bloch, A. M.; Colombo, L.; and Rooney, P. In 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australia, December 12-15, 2017, pages 1317–1322, 2017.
Quasivelocities and symmetries in simple hybrid systems. Bloch, A. M.; Clark, W. A.; and Colombo, L. In 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australia, December 12-15, 2017, pages 1529–1534, 2017.
Optimal Control Problems with Symmetry Breaking Cost Functions. Bloch, A. M.; Colombo, L.; Gupta, R.; and Ohsawa, T. CoRR, abs/1701.06973. 2017.
Variational obstacle avoidance problem on Riemannian manifolds. Bloch, A. M.; Camarinha, M.; and Colombo, L. CoRR, abs/1703.04703. 2017.
Mobile robotics in arable lands: Current state and future trends. Emmi, L.; and de Santos, P. G. In 2017 European Conference on Mobile Robots, ECMR 2017, Paris, France, September 6-8, 2017, pages 1–6, 2017.
Energy-efficiency hexapod walking robot for humanitarian demining. Montes, H.; Mena, L.; Fernández, R.; and Armada, M. A. Ind. Robot, 44(4): 457–466. 2017.
Multisensory System for the Detection and Localization of Peripheral Subcutaneous Veins. Fernández, R.; and Armada, M. A. Sensors, 17(4): 897. 2017.

2016

Geometric Integrators for Higher-Order Variational Systems and Their Application to Optimal Control. Colombo, L.; Ferraro, S. J.; and de Diego, D. M. J. Nonlinear Sci., 26(6): 1615–1650. 2016.
Machine-Vision Systems Selection for Agricultural Vehicles: A Guide. Pajares, G.; García-Santillán, I. D.; Campos, Y.; Montalvo, M.; Guerrero, J. M.; Emmi, L.; Romeo, J.; Guijarro, M.; and de Santos, P. G. J. Imaging, 2(4): 34. 2016.
Intelligent Multisensor Prodder for Training Operators in Humanitarian Demining. Fernández, R.; Montes, H.; and Armada, M. A. Sensors, 16(7): 965. 2016.
Novel Robotic Platforms for the Accurate Sampling and Monitoring of Water Columns. Fernández, R.; Apalkov, A.; and Armada, M. A. Sensors, 16(9): 1378. 2016.

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