Related papers: An Optimal Control Approach for the Data Harvestin…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
This article proposes an improved trajectory optimization approach for stochastic optimal control of dynamical systems affected by measurement noise by combining optimal control with maximum likelihood techniques to improve the reduction of…
We introduce a method called MASCOT (Multi-Agent Shape Control with Optimal Transport) to compute optimal control solutions of agents with shape/formation/density constraints. For example, we might want to apply shape constraints on the…
We study an optimal control problem in which both the objective function and the dynamic constraint contain an uncertain parameter. Since the distribution of this uncertain parameter is not exactly known, the objective function is taken as…
Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impact. One way of doing so is by using information about the…
In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem. A manipulation planner needs to generate a trajectory of the manipulator arm to avoid obstacles in the environment and plan an…
We present an information theoretic approach to stochastic optimal control problems that can be used to derive general sampling based optimization schemes. This new mathematical method is used to develop a sampling based model predictive…
This paper deals with the reconstruction of the desired demand in an optimal control problem, stated over a tree-shaped transportation network which is governed by a linear hyperbolic conservation law. As desired demands typically undergo…
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…
In this paper, we consider a cellular-connected unmanned aerial vehicle (UAV) with an information collection and transmission mission for multiple ground targets. Specifically, the UAV is required to collect a fixed amount of information of…
We consider a scenario where an UAV-mounted flying base station is providing data communication services to a number of radio nodes spread over the ground. We focus on the problem of resource-constrained UAV trajectory design with (i)…
Joint optimization of scheduling and estimation policies is considered for a system with two sensors and two non-collocated estimators. Each sensor produces an independent and identically distributed sequence of random variables, and each…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the…
In this paper, we present an approach for solving the problem of moving $N$ homogeneous agents into $M \geq N$ goal locations along energy-minimizing trajectories. We propose a decentralized framework that only requires knowledge of the…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
This paper proposes an algorithmic method to heuristically solve the famous Travelling Salesman Problem (TSP) when the salesman's path evolves in continuous state space and discrete time but with otherwise arbitrary (nonlinear) dynamics.…
Energy harvesting from the surroundings is a promising solution to perpetually power-up wireless sensor communications. This paper presents a data-driven approach of finding optimal transmission policies for a solar-powered sensor node that…
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…
We consider the traffic light control problem for a single intersection modeled as a stochastic hybrid system. We study a quasi-dynamic policy based on partial state information defined by detecting whether vehicle backlogs are above or…