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This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…
This paper presents a bi-level optimization framework to compute the maximum-distance race strategies for a fully electric endurance race car, whilst accounting for the low-level vehicle dynamics and the thermal limitations of the…
We study a quantum Otto cycle in which the strokes are performed in finite time. The cycle involves energy measurements at the end of each stroke to allow for the respective determination of work. We then optimize for the work and…
It is a well-documented yet counterintuitive fact that wind-driven vehicles (with no onboard power source) can travel directly downwind faster than the wind itself. This effect is not paradoxical once one recognizes that the vehicle is not…
High-order large-eddy simulations are performed to study the performance and flow field of a ducted wind turbine operating at different tip speed ratios. To evaluate the effects of the duct, simulations with the same tip speed ratios are…
Finding an optimal solution of signal traffic control durations is a computationally intensive task. It is typically O(T3) in time, and O(T2) in space, where T is the length of the control interval in discrete time steps. In this paper, we…
Straight-bladed cross-flow turbines are computationally explored for harvesting energy in wind and water currents. One challenge for cross-flow turbines is the transient occurrence of high apparent angles of attack on the blades that…
We investigate how to control optimally a traffic flow through a junction on the line by acting only on speed reduction or traffic light at the junction. We show the existence of an optimal control and, under structure assumptions, provide…
Cross-flow turbine (known as vertical-axis wind turbines or ``VAWTs'' in wind) blades encounter a relatively undisturbed inflow for the first half of each rotational cycle (``upstream sweep'') and then pass through their own wake for the…
Global optimization of the energy consumption of dual power source vehicles such as hybrid electric vehicles, plug-in hybrid electric vehicles, and plug in fuel cell electric vehicles requires knowledge of the complete route characteristics…
We have numerically investigated the effect of the delay times $\tau_f$ and $\tau_s$ of a mixture of fast and slow vehicles on the fundamental diagram of the optimal velocity model. The optimal velocity function of the fast cars depends not…
Autonomous navigation has recently gained great interest in the field of reinforcement learning. However, little attention was given to the time optimal velocity control problem, i.e. controlling a vehicle such that it travels at the…
This paper analyzes the use of variable speed limits to optimize travel time reliability for commuters. The investigation focuses on a traffic corridor with a bottleneck subject to the capacity drop phenomenon. The optimization criterion is…
It is well known that ``equivalent'' sprint race times run with different accompanying wind speeds or at different altitudes are anything but equivalent races. The drag force acting on a sprinter is a function of air density and the…
The Immersion and Invariance (I&I) wind speed estimator is a powerful and widely-used technique to estimate the rotor effective wind speed on horizontal axis wind turbines. Anyway, its global convergence proof is rather cumbersome, which…
All experiments attempting to verify the invariance of speed of light directly are based on two-way speed measurement. The challenge in one-way speed measurement, the requirement of spatially separated synchronised clocks, can be possibly…
Most modern control systems are switched, meaning they have continuous as well as discrete decision variables. Switched systems often have constraints called dwell-time constraints (e.g., cycling constraints in a heat pump) on the switching…
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become active, the optimal trajectory consists of…
In each rowing sport, the oars have their very own characteristics most of the time selected through a long time experience. Here we address experimentally and theoretically the problem of rowing efficiency as function of row lengths and…
We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that…