Related papers: Combining Homotopy Methods and Numerical Optimal C…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
We aim to solve a topology optimization problem where the distribution of material in the design domain is represented by a density function. To obtain candidates for local minima, we want to solve the first order optimality system via…
This paper considers the relaxed version of the transport problem for general nonlinear control systems, where the objective is to design time-varying feedback laws that transport a given initial probability measure to a target probability…
Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as the environment evolves. Therefore, it can be beneficial to…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
The existence of multiple irregular obstacles in the environment introduces nonconvex constraints into the optimization for motion planning, which makes the optimal control problem hard to handle. One efficient approach to address this…
In this article, the minimum time control problem of an electric vehicle is modeled as a Mayer problem in optimal control, with affine dynamics with respect to the control and with state constraints. The candidates as minimizers are…
This paper presents a sampling-based motion planning framework that leverages the geometry of obstacles in a workspace as well as prior experiences from motion planning problems. Previous studies have demonstrated the benefits of utilizing…
Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states transverse certain manifolds. We present an algorithm for…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
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…
Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…
We investigate the numerical approximation of an elliptic optimal control problem which involves a nonconvex local regularization of the $L^q$-quasinorm penalization (with $q\in(0,1)$) in the cost function. Our approach is based on the…
We consider the problem of optimal path planning on a manifold which is the image of a smooth function. Optimal path-planning is of crucial importance for motion planning, image processing, and statistical data analysis. In this work, we…
In this work, we propose an adaptive spectral element algorithm for solving nonlinear optimal control problems. The method employs orthogonal collocation at the shifted Gegenbauer-Gauss points combined with very accurate and stable…
This paper focuses on the design of sequential quadratic optimization (commonly known as SQP) methods for solving large-scale nonlinear optimization problems. The most computationally demanding aspect of such an approach is the computation…
This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC)…
This paper presents an algorithm to solve non-convex optimal control problems, where non-convexity can arise from nonlinear dynamics, and non-convex state and control constraints. This paper assumes that the state and control constraints…
This paper introduces a novel control strategy to optimize urban network traffic in mixed autonomy settings, featuring Connected and Automated Vehicles (CAVs) alongside Human-Driven Vehicles (HDVs). Unlike previous control strategies, where…
This paper presents a new and straightforward procedure for solving bilinear quadratic optimal control problem. In this method, first the original optimal control problem is transformed into a nonlinear twopoint boundary value problem…