Project description
Optimising dynamical control systems on Riemannian manifolds
With the support of the Marie Skłodowska-Curie Actions programme, the GNACS project aims to establish a novel approach to path-planning for dynamical control systems on Riemannian manifolds. Practical applications include designing trajectory-tracking control systems for unmanned aerial vehicles transporting cargo and region avoidance on Riemannian homogeneous spaces to prevent collisions. To do so, control forces will be integrated into the geometry of the configuration manifold, allowing trajectories of double-integrator systems to be recognised as Riemannian geodesics of a modified Riemannian metric. It will introduce Gordonian transformations, modifying the metric to achieve trajectory-tracking and region avoidance. Finally, it will construct B-stable modifications of the implicit and symplectic geodesic Euler methods on Riemannian manifolds to strategically modify the curvature through Gordonian transformations.
Objective
This multidisciplinary project bridges differential geometry, optimal control, and numerical analysis, with practical applications in robotic engineering. It introduces a novel approach to path-planning for dynamical control systems on Riemannian manifolds, simplifying many challenges of modern geometric control methods. The central hypothesis is that, under certain conditions, control forces can be integrated into the geometry of the configuration manifold, enabling the trajectories of double-integrator systems to be interpreted as Riemannian geodesics of a modified Riemannian metric. By introducing Gordonian and conformal transformations, the metric is strategically modified to achieve objectives such as trajectory-tracking and obstacle and region avoidance. B-stable modifications of the implicit geodesic Euler method and symplectic geodesic Euler method are constructed on Riemannian manifolds by strategically modifying the curvature through Gordonian transformations. Applications considered throughout the project include the design of trajectory-tracking control schemes for teams of quadrotor UAVs transporting cargo, as well as region avoidance on Riemannian homogeneous spaces.
Fields of science (EuroSciVoc)
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
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Keywords
Project’s keywords as indicated by the project coordinator. Not to be confused with the EuroSciVoc taxonomy (Fields of science)
Project’s keywords as indicated by the project coordinator. Not to be confused with the EuroSciVoc taxonomy (Fields of science)
Programme(s)
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
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HORIZON.1.2 - Marie Skłodowska-Curie Actions (MSCA)
MAIN PROGRAMME
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Topic(s)
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Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Funding Scheme
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
HORIZON-TMA-MSCA-PF-EF - HORIZON TMA MSCA Postdoctoral Fellowships - European Fellowships
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Call for proposal
Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
(opens in new window) HORIZON-MSCA-2024-PF-01
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Net EU financial contribution. The sum of money that the participant receives, deducted by the EU contribution to its linked third party. It considers the distribution of the EU financial contribution between direct beneficiaries of the project and other types of participants, like third-party participants.
7491 Trondheim
Norway
The total costs incurred by this organisation to participate in the project, including direct and indirect costs. This amount is a subset of the overall project budget.