{"id":"https://openalex.org/W1974866264","doi":"https://doi.org/10.1109/acc.2010.5531258","title":"Computational geometric optimal control of connected rigid bodies in a perfect fluid","display_name":"Computational geometric optimal control of connected rigid bodies in a perfect fluid","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W1974866264","doi":"https://doi.org/10.1109/acc.2010.5531258","mag":"1974866264"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2010.5531258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531258","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020132536","display_name":"Taeyoung Lee","orcid":"https://orcid.org/0000-0003-4982-4150"},"institutions":[{"id":"https://openalex.org/I106959904","display_name":"Florida Institute of Technology","ror":"https://ror.org/04atsbb87","country_code":"US","type":"education","lineage":["https://openalex.org/I106959904"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taeyoung Lee","raw_affiliation_strings":["Mechanical and Aerospace Engineering, Florida Institute of Technology, Melbourne, FL, USA","Mechanical and Aerospace Engineering, Florida Institute of Technology, Melbourne, 39201, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, Florida Institute of Technology, Melbourne, FL, USA","institution_ids":["https://openalex.org/I106959904"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering, Florida Institute of Technology, Melbourne, 39201, USA","institution_ids":["https://openalex.org/I106959904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047012686","display_name":"Melvin Leok","orcid":"https://orcid.org/0000-0002-8326-0830"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M Leok","raw_affiliation_strings":["Mathematics, University of California, San Diego, CA, USA","Mathematics, University of California, San Diego, 92093, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mathematics, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Mathematics, University of California, San Diego, 92093, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018682629","display_name":"N. Harris McClamroch","orcid":"https://orcid.org/0000-0002-7536-5659"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N H McClamroch","raw_affiliation_strings":["Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","Aerospace Engineering, University of Michigan, Ann Arbor, 48109, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Aerospace Engineering, University of Michigan, Ann Arbor, 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5985","last_page":"5990"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11416","display_name":"Numerical methods for differential equations","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11416","display_name":"Numerical methods for differential equations","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10173","display_name":"Computational Fluid Dynamics and Aerodynamics","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10339","display_name":"Advanced Numerical Methods in Computational Mathematics","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/conservative-vector-field","display_name":"Conservative vector field","score":0.6286122798919678},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5715414881706238},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5631194114685059},{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.5306441187858582},{"id":"https://openalex.org/keywords/variational-integrator","display_name":"Variational integrator","score":0.5174735188484192},{"id":"https://openalex.org/keywords/geometric-mechanics","display_name":"Geometric mechanics","score":0.5096735954284668},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.5024707317352295},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4953133165836334},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4873717427253723},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4826286733150482},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.4031798839569092},{"id":"https://openalex.org/keywords/compressibility","display_name":"Compressibility","score":0.3986775875091553},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.35705310106277466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3537878692150116},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.289156436920166},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.283590704202652},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.19183284044265747},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1913803517818451},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15315577387809753},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.13559582829475403},{"id":"https://openalex.org/keywords/analytical-mechanics","display_name":"Analytical mechanics","score":0.11932516098022461},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0926947295665741}],"concepts":[{"id":"https://openalex.org/C147457402","wikidata":"https://www.wikidata.org/wiki/Q1588205","display_name":"Conservative vector field","level":3,"score":0.6286122798919678},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5715414881706238},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5631194114685059},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.5306441187858582},{"id":"https://openalex.org/C52154503","wikidata":"https://www.wikidata.org/wiki/Q7915797","display_name":"Variational integrator","level":4,"score":0.5174735188484192},{"id":"https://openalex.org/C206444204","wikidata":"https://www.wikidata.org/wiki/Q17086162","display_name":"Geometric mechanics","level":5,"score":0.5096735954284668},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.5024707317352295},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4953133165836334},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4873717427253723},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4826286733150482},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.4031798839569092},{"id":"https://openalex.org/C84655787","wikidata":"https://www.wikidata.org/wiki/Q8067817","display_name":"Compressibility","level":2,"score":0.3986775875091553},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.35705310106277466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3537878692150116},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.289156436920166},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.283590704202652},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.19183284044265747},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1913803517818451},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15315577387809753},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.13559582829475403},{"id":"https://openalex.org/C206183056","wikidata":"https://www.wikidata.org/wiki/Q833065","display_name":"Analytical mechanics","level":4,"score":0.11932516098022461},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0926947295665741},{"id":"https://openalex.org/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C15184713","wikidata":"https://www.wikidata.org/wiki/Q7269042","display_name":"Quantum dynamics","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/acc.2010.5531258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531258","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.175.5358","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.175.5358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://my.fit.edu/%7Etaeyoung/paper/ACC10.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.246.1525","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.246.1525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arxiv.org/pdf/0909.3871v1.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.400.5697","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.400.5697","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ccom.ucsd.edu/reports/UCSD-CCoM-09-02.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W609283096","https://openalex.org/W1499631631","https://openalex.org/W1524590822","https://openalex.org/W1538183267","https://openalex.org/W2013192764","https://openalex.org/W2027639364","https://openalex.org/W2052624852","https://openalex.org/W2117289015","https://openalex.org/W2122703554","https://openalex.org/W2139026810","https://openalex.org/W2143769694","https://openalex.org/W2148975592","https://openalex.org/W2150755300","https://openalex.org/W2159040815","https://openalex.org/W2170039048","https://openalex.org/W2963433675"],"related_works":["https://openalex.org/W2537694785","https://openalex.org/W2006096639","https://openalex.org/W2249321550","https://openalex.org/W1985318753","https://openalex.org/W2961659155","https://openalex.org/W2005694504","https://openalex.org/W3011672241","https://openalex.org/W1989699225","https://openalex.org/W2029535240","https://openalex.org/W2963433675"],"abstract_inverted_index":{"This":[0,85,119],"paper":[1],"formulates":[2],"an":[3,24],"optimal":[4,68,110],"control":[5,52,69],"problem":[6],"for":[7,64],"a":[8,61,73,80],"system":[9,95],"of":[10,46,92,102,112],"rigid":[11,30,105,114],"bodies":[12,31,115],"that":[13,50],"are":[14,54],"neutrally":[15],"buoyant,":[16],"connected":[17,104,113],"by":[18,122],"ball":[19],"joints,":[20],"and":[21,26,34,39,96,117],"immersed":[22],"in":[23,36],"irrotational":[25],"incompressible":[27],"fluid.":[28],"The":[29],"can":[32],"translate":[33],"rotate":[35],"three-dimensional":[37],"space,":[38],"each":[40,57],"joint":[41],"has":[42],"three":[43],"rotational":[44],"degrees":[45],"freedom.":[47],"We":[48,59],"assume":[49],"internal":[51],"moments":[53],"applied":[55],"at":[56],"joint.":[58],"present":[60],"computational":[62,86],"procedure":[63],"numerically":[65],"solving":[66],"this":[67],"problem,":[70],"based":[71],"on":[72],"geometric":[74],"numerical":[75,123],"integrator":[76],"referred":[77],"to":[78],"as":[79],"Lie":[81,98],"group":[82,99],"variational":[83],"integrator.":[84],"approach":[87],"preserves":[88],"the":[89,93,97,103],"Hamiltonian":[90],"structure":[91],"controlled":[94],"configuration":[100],"manifold":[101],"bodies,":[106],"thereby":[107],"finding":[108],"complex":[109],"maneuvers":[111],"accurately":[116],"efficiently.":[118],"is":[120],"illustrated":[121],"computations.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
