Abstract
In this paper, we present a simplified geometric algorithm to generate interpolating splines on Grassmann and Stiefel manifolds, where position and velocity are required to change smoothly. In this construction, each spline segment is computed using local data only. It turns out that this algorithm does not require a recursive procedure and it is based on the explicit expressions for geodesics or quasi-geodesics on those manifolds.
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Acknowledgements
Work supported by OE – national funds of FCT/MCTES (PIDDAC) under project UID/EEA/00048/2019.
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Machado, L., Leite, F.S., Batzies, E. (2021). Geometric Algorithm to Generate Interpolating Splines on Grassmann and Stiefel Manifolds. In: Gonçalves, J.A., Braz-César, M., Coelho, J.P. (eds) CONTROLO 2020. CONTROLO 2020. Lecture Notes in Electrical Engineering, vol 695. Springer, Cham. https://doi.org/10.1007/978-3-030-58653-9_17
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DOI: https://doi.org/10.1007/978-3-030-58653-9_17
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