@inproceedings{63d0e2863a614a958246a2a0fc1210e9,
title = "Multiple instantaneous collisions in a variational framework",
abstract = "Variational integrators have become of interest to the controls community, particularly since in recent years they have been used in the context of optimal control. This paper discusses how to resolve simultaneous impacts in a variational context, assuming that all boundaries of the impacting bodies are differentiable. We demonstrate how this analysis works for arbitrary numbers of simultaneous impacts and derive discrete time algorithms for resolving these impacts numerically. We illustrate our results, both in the continuous and discrete domain, using Newton's cradle as an example.",
author = "Vlad Seghete and Murphey, \{Todd D.\}",
year = "2009",
doi = "10.1109/CDC.2009.5400369",
language = "English (US)",
isbn = "9781424438716",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5015--5020",
booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",
address = "United States",
note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",
}