Related papers: Optimal Control of Vehicular Formations with Neare…
We study Transformers through the perspective of optimal control theory, using tools from continuous-time formulations to derive actionable insights into training and architecture design. This framework improves the performance of existing…
We consider the problem of designing a feedback controller for a multivariable linear time-invariant system which regulates an arbitrary system output to the solution of an equality-constrained convex optimization problem despite unknown…
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This work shows the existence of optimal control laws for persistent monitoring of mobile targets in a one-dimensional mission space and derives explicit solutions. The underlying performance metric consists of minimizing the total…
This paper extends recent results on the exponential performance analysis of gradient based cooperative control dynamics using the framework of exponential integral quadratic constraints ($\alpha-$IQCs). A cooperative source-seeking problem…
A novel unified approach to jointly optimize structural design parameters, actuator and sensor precision and controller parameters is presented in this paper. The joint optimization problem is posed as a covariance control problem, where…
We consider the freeway network control problem where the aim is to optimize the operation of traffic networks modeled by the Cell Transmission Model via ramp metering and partial mainline demand control. Optimal control problems using the…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
We propose a geometric approach to distance-based formation control modeled on a minimum-norm lifting of Riemannian gradient descent in edge-space to node-space. This yields a unified family of controllers, including the classical gradient…
Achieving optimality in controlling physical systems is a profound challenge across diverse scientific and engineering fields, spanning neuromechanics, biochemistry, autonomous systems, economics, and beyond. Traditional solutions, relying…
In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities. Specifically, we introduce three controlled…
Designing policies for a network of agents is typically done by formulating an optimization problem where each agent has access to state measurements of all the other agents in the network. Such policy designs with centralized information…
This paper revisits the robustness analysis and distributed ${ H}_\infty$ controller design for the platooning of connected vehicles. Recently, the relevant result subjected to the undirected topology has been studied, in the light of the…
In order for automated mobile vehicles to navigate in the real world with minimal collision risks, it is necessary for their planning algorithms to consider uncertainties from measurements and environmental disturbances. In this paper, we…
We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with…
This paper studies a stabilization problem for linear MIMO systems subject to external perturbation that further requires the closed-loop system render a specified gain from the external perturbation to the output. The problem arises from…
This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…