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Vertical-axis wind turbines (VAWT) are excellent candidates to complement traditional wind turbines and increase the total wind energy capacity. Development of VAWT has been hampered by their low efficiency and structural unreliability,…
Time-optimal path tracking, as a significant tool for industrial robots, has attracted the attention of numerous researchers. In most time-optimal path tracking problems, the actuator torque constraints are assumed to be conservative, which…
We investigate a class of optimal stopping problems arising in, for example, studies considering the timing of an irreversible investment when the underlying follows a skew Brownian motion. Our results indicate that the local directional…
The classical problem of suppressing vortex shedding in the wake of a circular cylinder by using body rotation is revisited in an adjoint-based optimal control framework. The cylinder's unsteady and fully unconstrained rotation rate is…
Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environments. In this paper, we propose a robust and safe trajectory…
We study driver's optimal trajectory planning under uncertainty in the duration of a traffic light's green phase. We interpret this as an optimal control problem with an objective of minimizing the expected cost based on the fuel use,…
Cross-flow turbines harness kinetic energy in wind or moving water. Due to their unsteady fluid dynamics, it can be difficult to predict the interplay between aspects of rotor geometry and turbine performance. This study considers the…
This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…
In this paper, an approach for active power control of individual wind turbines is presented. State-of-the-art controllers typically employ separate control loops for torque and pitch control. In contrast, we use a multivariable control…
It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…
Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…
The aim of this paper is to bring a mathematical justification to the optimal way of organizing one's effort when running. It is well known from physiologists that all running exercises of duration less than 3mn are run with a strong…
Winds play an essential role in the climate system. In this study, we analyze the global pattern of the diurnal cycle of surface (10 m) winds from the ERA5 reanalysis data. We find that over the land and especially over sand dune regions,…
This paper is concerned with a class of time-optimal control problems for the swing and the ski. We first consider the motion of a man standing on a swing. For simplicity, we neglect friction and air resistance and assume that the mass of…
In the last years, a growing number of challenging applications in navigation, logistics, and tourism were modeled as orienteering problems. This problem has been proposed in relation to a sport race where certain control points must be…
In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…
Formula One (F1) race strategy takes place in a high-pressure and fast-paced environment where split-second decisions can drastically affect race results. Two of the core decisions of race strategy are when to make pit stops (i.e. replace…
Engine failure is a recurring emergency in General Aviation and fixed-wing UAVs, often requiring the pilot or remote operator to carry out carefully planned glides to safely reach a candidate landing strip. We tackle the problem of…
In order to describe the velocity and the anaerobic energy of two runners competing against each other for middle-distance races, we present a mathematical model relying on an optimal control problem for a system of ordinary differential…
A remarkably simple result is found for the optimal protocol of drivings for a general two-level Hamiltonian which transports a given initial state to a given final state in minimal time. If one of the three possible drivings is…