Related papers: Optimal Control Of Surface Shape
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…
We consider an optimal control problem where the state is governed by a free boundary problem called the two-phase membrane problem and the control appears in the coefficients of the characteristic function of the positivity and negativity…
We introduce an alternative approach for the analysis and numerical approximation of the optimal feedback control mapping. It consists in looking at a typical optimal control problem in such a way that feasible controls are mappings…
This work discusses the finite element discretization of an optimal control problem for the linear wave equation with time-dependent controls of bounded variation. The main focus lies on the convergence analysis of the discretization…
We present a technique to optimize the reflectivity of a surface while preserving its overall shape. The naive optimization of the mesh vertices using the gradients of reflectivity simulations results in undesirable distortion. In contrast,…
Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
We consider differentiability issues associated to the problem of minimizing the accumulation of a granular cohesionless material on a certain surface. The design variable or control is determined by source locations and intensity thereof.…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
We propose a variational framework for accretive surface growth driven by an optimality principle. Rather than prescribing a kinetic law, the configuration at each time step is obtained, within a time-discrete setting, as the solution of a…
In this paper, we consider a class of optimal control problems governed by 1D parabolic state-systems of KWC types with dynamic boundary conditions. The state-systems are based on a phase-field model of grain boundary motion, proposed in…
This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…
An experimental method has been developed to locate unstable equilibria of nonlinear structures quasi-statically. The technique involves loading a structure by application of either a force or a displacement at a main actuation point, while…
This paper demonstrates the impact of a phase field method on shape registration to align shapes of possibly different topology. It yields new insights into the building of discrepancy measures between shapes regardless of topology, which…
In this manuscript, we consider a control system governed by a general ordinary differential equation on a Riemannian manifold, with its endpoints satisfying some inequalities and equalities, and its control constrained to a closed convex…
In this work, we investigate a particular class of shape optimization problems under uncertainties on the input parameters. More precisely, we are interested in the minimization of the expectation of a quadratic objective in a situation…
We derive a framework to compute optimal controls for problems with states in the space of probability measures. Since many optimal control problems constrained by a system of ordinary differential equations (ODE) modelling interacting…
We present a general numerical approach to shape optimization with state constraints for 2-dimensional geometries, without relaxing the constraints. To do this we reformulate the problem on a fixed reference domain using a conformal…
We present a novel particle filtering framework for continuous-time dynamical systems with continuous-time measurements. Our approach is based on the duality between estimation and optimal control, which allows reformulating the estimation…
We introduce a family of boundary conditions and point constraints for conformal immersions that increase the controllability of surfaces defined as minimizers of conformal variational problems. Our free boundary conditions fix the metric…