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Cyclists prefer to use infrastructure that separates them from motorized traffic. Using a traffic light to segregate car and bike flows, with the addition of bike-specific green phases, is a lightweight and cheap solution that can be…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
VAM ({\it velocit\`a ascensionale media}) is a measurement that quantifies a cyclist's climbing ability. We show that to minimize the time to attain a given height gain\, -- \,which is tantamount to maximizing VAM\, -- \,a cyclist should…
Solving for the minimum time bounded acceleration trajectory with prescribed position and velocity at endpoints is a highly nonlinear problem. The methods and bounds developed in this paper distinguish when there is a continuous…
A Wardrop equilibrium for multiple routes requires equal travel time on each path used. With real-time traffic data regarding travel times, it is important to analyze how to use the information provided. In particular, can a Wardrop…
We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…
We study experimentally a a three-dimensional reduced model of a sail shape performing pitching oscillations around a mean incidence angle ($\alpha_{m}$) with respect to an incoming flow in a hydrodynamic channel at a constant velocity…
Optimal control theory provides recipes to achieve quantum operations with high fidelity and speed, as required in quantum technologies such as quantum sensing and computation. While technical advances have achieved the ultrastrong driving…
An application of optimal control theory results in a lower bound on the speed $|\dot{\lambda}(t)|$ that must be attained at least once by any external forcing function that induces tipping in the asymptotically autonomous scalar ODE…
This study presents a novel approach to the vehicle routing problem by focusing on greenhouse gas emissions and fuel consumption aiming to mitigate adverse environmental effects of transportation. A time-dependent model with time windows is…
We give a rigorous solution of an optimisation problem of minimizing the expected delay caused by encountering a red traffic light on a road journey. The problem incorporates simple constraints on maximum speed, acceleration and braking…
The 100m world rankings of the 1997 outdoor track and field competition season are reviewed, subject to corrections for wind effects and atmospheric drag. The rankings and times are compared with those of 1996, and the improvements of each…
We introduce a notion of bounded variation solution for a new class of nonlinear control systems with ordinary and impulsive controls, in which the drift function depends not only on the state, but also on its past history, through a finite…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
Bicycle Power Meters have become ubiquitous in professional and amateur cycling. These devices claim high levels of accuracy, and this accuracy is indeed essential if they are to serve their purpose as reliable training aids and indicators…
Human drivers may behave in an imprecise/unstable manner, leading to traffic oscillations which are harmful to traffic throughput. Recent field experiments have shown that the control of a single autonomous vehicle (AV) can increase traffic…
As a healthy and green transportation mode, cycling has been advocated by many governments. However, compared with vast amounts of works on vehicle flow and pedestrian flow, the bicycle flow study currently lags far behind. We have carried…
Practical bipedal robot locomotion needs to be both energy efficient and robust to variability and uncertainty. In this paper, we build upon recent works in trajectory optimization for robot locomotion with two primary goals. First, we wish…
We propose a second-order time to collision (TTC) considering non-static acceleration and turning with realistic assumptions. This is equivalent to considering that the steering wheel is held at a fixed angle with constant pressure on the…
The transportation of the cargoes in biological cells is primarily driven by the motor proteins on filamentous protein tracks. The stochastic nature of the motion of motor protein often leads to its spontaneous detachment from the track.…