Optimal Control of Sweeping Processes in Robotics and Traffic Flow Models
Optimization and Control
2018-11-06 v1
Abstract
The paper is mostly devoted to applications of a novel optimal control theory for perturbed sweeping/Moreau processes to two practical dynamical models. The first model addresses mobile robot dynamics with obstacles, and the second one concerns control and optimization of traffic flows. Describing these models as controlled sweeping processes with pointwise/hard control and state constraints and applying new necessary optimality conditions for such systems allow us to develop efficient procedures to solve naturally formulated optimal control problems for the models under consideration and completely calculate optimal solutions in particular situations.
Keywords
Cite
@article{arxiv.1811.01844,
title = {Optimal Control of Sweeping Processes in Robotics and Traffic Flow Models},
author = {Giovanni Colombo and Boris S. Mordukhovich and Dao Nguyen},
journal= {arXiv preprint arXiv:1811.01844},
year = {2018}
}
Comments
24 pages, 6 figures