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Modeling and control of agent-based models is twice cursed by the dimensionality of the problem, as both the number of agents and their state space dimension can be large. Even though the computational barrier posed by a large ensemble of…
This paper considers the problem of steering a vast group of agents of which the dynamics are governed by a discrete-time first-order linear system. The group of agents are characterized as a probability density function and an occupation…
We propose a neural network approach for solving high-dimensional optimal control problems. In particular, we focus on multi-agent control problems with obstacle and collision avoidance. These problems immediately become high-dimensional,…
Stochastic optimal control problems governed by delay equations with delay in the control are usually more difficult to study than the the ones when the delay appears only in the state. This is particularly true when we look at the…
Recent advances in modeling and control of crowds of pedestrians are briefly surveyed in this paper. Possibilities of applying fractional calculus in the modeling of crowd of pedestrians have been shortly reviewed and discussed from…
Stochastic optimal control problems governed by delay equations with delay in the control are usually more difficult to study than the the ones when the delay appears only in the state. This is particularly true when we look at the…
A learning technique for finite horizon optimal control problems and its approximation based on polynomials is analyzed. It allows to circumvent, in part, the curse dimensionality which is involved when the feedback law is constructed by…
Presented is a method to compute certain classes of Hamilton-Jacobi equations that result from optimal control and trajectory generation problems with time delays. Many robotic control and trajectory problems have limited information of the…
This paper considers a localized data-driven consensus problem for leader-follower multi-agent systems with unknown discrete-time agent dynamics, where each follower computes its local control gain using only their locally collected state…
We develop a general theoretical framework for optimal probability density control on standard measure spaces, aimed at addressing large-scale multi-agent control problems. In particular, we establish a maximum principle (MP) for control…
The problem of consensus in the presence of adversarially behaving agents has been studied extensively in the literature. The proposed algorithms typically guarantee that the consensus value lies within the convex hull of initial normal…
Principle of Swarm Intelligence has recently found widespread application in formation control and automated tracking by the automated multi-agent system. This article proposes an elegant and effective method inspired by foraging dynamics…
This article concerns an optimal crowd motion control problem in which the crowd features a structure given by its organization into N groups (participants) each one spatially confined in a set. The overall optimal control problem consists…
Environmental management optimizing a long-run objective is an ergodic control problem whose resolution can be achieved by solving an associated non-local Hamilton-Jacobi-Bellman (HJB) equation having an effective Hamiltonian. Focusing on…
We study a time-optimal control problem of a two-peakon collision. First, we state the controllability. Next, we find the time-optimal strategy. This is done via the HamiltonJacobi-Bellman equation and the dynamic programming method. We…
The goal of this work is to propose an extension of the popular leader-follower framework for multi-agent collective tracking and formation maintenance in presence of a time- varying leader. In particular, the leader is persistently…
Crowd navigation has received increasing attention from researchers over the last few decades, resulting in the emergence of numerous approaches aimed at addressing this problem to date. Our proposed approach couples agent motion prediction…
We study a multiscale approach for the control of agent-based, two-population models. The control variable acts over one population of leaders, which influence the population of followers via the coupling generated by their interaction. We…
We consider the problem of time-optimal path planning for simple nonholonomic vehicles. In previous similar work, the vehicle has been simplified to a point mass and the obstacles have been stationary. Our formulation accounts for a…
This paper presents a mathematical formulation to perform temporal parallelisation of continuous-time optimal control problems, which can be solved via the Hamilton--Jacobi--Bellman (HJB) equation. We divide the time interval of the control…