A lie group variational integrator for the attitude dynamics of a rigid body with applications to the 3D pendulum. - Taeyoung Lee; N. Harris McClamroch; Melvin Leok (CCA, 2005)

Controlled Lagrangians and Stabilization of the Discrete Cart-Pendulum System. - Anthony M. Bloch; Melvin Leok; Jerrold E. Marsden; Dmitry V. Zenkov (CDC/ECC, 2005)

Attitude maneuvers of a rigid spacecraft in a circular orbit. - Taeyoung Lee; N. Harris McClamroch; Melvin Leok (ACC, 2006)

Controlled Lagrangians and Potential Shaping for Stabilization of Discrete Mechanical Systems. - Anthony M. Bloch; Melvin Leok; Jerrold E. Marsden; Dmitry V. Zenkov (CDC, 2006)

A Discrete Variational Integrator for Optimal Control Problems on SO(3). - Islam I. Hussein; Melvin Leok; Amit K. Sanyal; Anthony M. Bloch (CDC, 2006)

Optimal Control of a Rigid Body using Geometrically Exact Computations on SE(3). - Taeyoung Lee; N. Harris McClamroch; Melvin Leok (CDC, 2006)

Deterministic Global Attitude Estimation. - Taeyoung Lee; Amit K. Sanyal; Melvin Leok; N. Harris McClamroch (CDC, 2006)

Global Attitude Estimation using Single Direction Measurements. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch; Amit K. Sanyal (ACC, 2007)

Optimal Attitude Control for a Rigid Body with Symmetry. - Taeyoung Lee; N. Harris McClamroch; Melvin Leok (ACC, 2007)

Propagation of uncertainty in rigid body attitude flows. - Taeyoung Lee; Nalin A. Chaturvedi; Amit K. Sanyal; Melvin Leok; N. Harris McClamroch (CDC, 2007)

A combinatorial optimal control problem for spacecraft formation reconfiguration. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (CDC, 2007)

Time optimal attitude control for a rigid body. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (ACC, 2008)

Global symplectic uncertainty propagation on SO(3). - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (CDC, 2008)

Computational Geometric Optimal Control of Rigid Bodies. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (Commun. Inf. Syst., 2008)

Global optimal attitude estimation using uncertainty ellipsoids. - Amit K. Sanyal; Taeyoung Lee; Melvin Leok; N. Harris McClamroch (Syst. Control. Lett., 2008)

Dynamics of connected rigid bodies in a perfect fluid. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (ACC, 2009)

Dynamics of a 3D elastic string pendulum. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (CDC, 2009)

Discrete Control Systems. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (Encyclopedia of Complexity and Systems Science, 2009)

Computational geometric optimal control of connected rigid bodies in a perfect fluid. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (ACC, 2010)

Geometric tracking control of a quadrotor UAV on SE(3). - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (CDC, 2010)

Discrete Hamilton-Jacobi theory and discrete optimal control. - Tomoki Ohsawa; Anthony M. Bloch; Melvin Leok (CDC, 2010)

Stokes-Dirac structures through reduction of infinite-dimensional Dirac structures. - Joris Vankerschaver; Hiroaki Yoshimura; Melvin Leok; Jerrold E. Marsden (CDC, 2010)

Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3). - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (CoRR, 2010)

Geometric numerical integration for complex dynamics of tethered spacecraft. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (ACC, 2011)

Stable manifolds of saddle equilibria for pendulum dynamics on S2 and SO(3). - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (CDC/ECC, 2011)

Variational and Geometric Structures of Discrete Dirac Mechanics. - Melvin Leok; Tomoki Ohsawa (Found. Comput. Math., 2011)

Nonlinear Dynamics of the 3D Pendulum. - Nalin A. Chaturvedi; Taeyoung Lee; Melvin Leok; N. Harris McClamroch (J. Nonlinear Sci., 2011)

Discrete Hamilton-Jacobi Theory. - Tomoki Ohsawa; Anthony M. Bloch; Melvin Leok (SIAM J. Control. Optim., 2011)

Nonlinear robust tracking control of a quadrotor UAV on SE(3). - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (ACC, 2012)

Dynamics and control of a chain pendulum on a cart. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (CDC, 2012)

Hamel's formalism and variational integrators on a sphere. - Dmitry V. Zenkov; Melvin Leok; Anthony M. Bloch (CDC, 2012)

A Novel Formulation of Point Vortex Dynamics on the Sphere: Geometrical and Numerical Aspects. - Joris Vankerschaver; Melvin Leok (J. Nonlinear Sci., 2014)

Global formulations of Lagrangian and Hamiltonian mechanics on two-spheres. - Taeyoung Lee; Melvin Leok; N. Harris McClamroch (CDC, 2015)

A novel variational formulation for thermoelastic problems. - Zahra Ebrahimzadeh; Melvin Leok; Mojtaba Mahzoon (Commun. Nonlinear Sci. Numer. Simul., 2015)

Spectral variational integrators. - James Hall; Melvin Leok (Numerische Mathematik, 2015)

Connecting Information Geometry and Geometric Mechanics. - Melvin Leok; Jun Zhang 009 (Entropy, 2017)

Lie Group Spectral Variational Integrators. - James Hall; Melvin Leok (Found. Comput. Math., 2017)

Spectral variational integrators for semi-discrete Hamiltonian wave equations. - Yiqun Li; Boying Wu; Melvin Leok (J. Comput. Appl. Math., 2017)

Spectral-collocation variational integrators. - Yiqun Li; Boying Wu; Melvin Leok (J. Comput. Phys., 2017)

Variational Integrators for Interconnected Lagrange-Dirac Systems. - Helen Parks; Melvin Leok (J. Nonlinear Sci., 2017)

Iterative Computation of the Fréchet Derivative of the Polar Decomposition. - Evan S. Gawlik; Melvin Leok (SIAM J. Matrix Anal. Appl., 2017)

Interpolation on Symmetric Spaces Via the Generalized Polar Decomposition. - Evan S. Gawlik; Melvin Leok (Found. Comput. Math., 2018)

High-Order Retractions on Matrix Manifolds Using Projected Polynomials. - Evan S. Gawlik; Melvin Leok (SIAM J. Matrix Anal. Appl., 2018)

Embedding-Based Interpolation on the Special Orthogonal Group. - Evan S. Gawlik; Melvin Leok (SIAM J. Sci. Comput., 2018)

Variational Discretizations of Gauge Field Theories Using Group-Equivariant Interpolation. - Melvin Leok (Found. Comput. Math., 2019)

Geometric exponential integrators. - Xuefeng Shen; Melvin Leok (J. Comput. Phys., 2019)

Variational Symplectic Accelerated Optimization on Lie Groups. - Taeyoung Lee; Molei Tao; Melvin Leok (CDC, 2021)

Variational Structures in Cochain Projection Based Variational Discretizations of Lagrangian PDEs. - Brian K. Tran; Melvin Leok (CoRR, 2021)

Adaptive Hamiltonian Variational Integrators and Applications to Symplectic Accelerated Optimization. - Valentin Duruisseaux; Jeremy Schmitt; Melvin Leok (SIAM J. Sci. Comput., 2021)

High-order symplectic Lie group methods on SO(n) using the polar decomposition. - Xuefeng Shen; Khoa Tran; Melvin Leok (CoRR, 2022)

Discrete Dirac reduction of implicit Lagrangian systems with abelian symmetry groups. - Álvaro Rodríguez Abella; Melvin Leok (CoRR, 2022)

Multisymplectic Hamiltonian variational integrators. - Brian K. Tran; Melvin Leok (Int. J. Comput. Math., 2022)

Accelerated Optimization on Riemannian Manifolds via Discrete Constrained Variational Integrators. - Valentin Duruisseaux; Melvin Leok (J. Nonlinear Sci., 2022)

Safe Control Synthesis With Uncertain Dynamics and Constraints. - Kehan Long; Vikas Dhiman; Melvin Leok; Jorge Cortés 001; Nikolay Atanasov 001 (IEEE Robotics Autom. Lett., 2022)

A Variational Formulation of Accelerated Optimization on Riemannian Manifolds. - Valentin Duruisseaux; Melvin Leok (SIAM J. Math. Data Sci., 2022)

Simplifying Momentum-based Positive-definite Submanifold Optimization with Applications to Deep Learning. - Wu Lin; Valentin Duruisseaux; Melvin Leok; Frank Nielsen; Mohammad Emtiyaz Khan; Mark Schmidt 001 (ICML, 2023)

Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems. - Valentin Duruisseaux; Thai Duong 001; Melvin Leok; Nikolay Atanasov 001 (L4DC, 2023)

Simplifying Momentum-based Riemannian Submanifold Optimization. - Wu Lin; Valentin Duruisseaux; Melvin Leok; Frank Nielsen; Mohammad Emtiyaz Khan; Mark Schmidt 001 (CoRR, 2023)

Type II Hamiltonian Lie Group Variational Integrators with Applications to Geometric Adjoint Sensitivity Analysis. - Brian K. Tran; Melvin Leok (CoRR, 2023)

Practical perspectives on symplectic accelerated optimization. - Valentin Duruisseaux; Melvin Leok (Optim. Methods Softw., 2023)

Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments. - Kehan Long; Khoa Tran; Melvin Leok; Nikolay Atanasov 001 (ACC, 2024)

Stabilization of Nonlinear Systems through Control Barrier Functions. - Pol Mestres; Kehan Long; Melvin Leok; Nikolay Atanasov 001; Jorge Cortés 001 (CDC, 2024)

Learning Generalized Hamiltonians using fully Symplectic Mappings. - Harsh Choudhary; Chandan Gupta; Vyacheslav kungrutsev; Melvin Leok; Georgios Korpas (CoRR, 2024)

Geometric Methods for Adjoint Systems. - Brian K. Tran; Melvin Leok (J. Nonlinear Sci., 2024)

On Properties of Adjoint Systems for Evolutionary PDEs. - Brian K. Tran; Ben S. Southworth; Melvin Leok (J. Nonlinear Sci., 2024)

Lie Group Variational Collision Integrators for a Class of Hybrid Systems. - Khoa Tran; Melvin Leok (SIAM J. Appl. Dyn. Syst., 2025)

Neural Configuration-Space Barriers for Manipulation Planning and Control. - Kehan Long; Ki Myung Brian Lee; Nikola Raicevic; Niyas Attasseri; Melvin Leok; Nikolay Atanasov 001 (CoRR, 2025)