ep18 - Naomi Ehrich Leonard, Part I: Geometric Control on Lie Groups, Underwater Vehicles and Collective Motion, Coordination in Animal Groups, Decision Making in Honeybees and Bifurcation Theory
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Journey through Geometric Mechanics and Controlled Lagrangians in Underwater Vehicles
This chapter follows the speaker's academic progression from their early work in combining velocities for net motion of underwater vehicles to studying geometric mechanics in rigid body systems for vehicle control. It explores the challenges of stability in underwater vehicles, introducing concepts like added mass and the interplay of buoyant force and gravity. The discussion extends to using controlled Lagrangians for stabilization, highlighting the importance of control laws and structured controllers for robustness.
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