Related papers: A Simple Solution for Maximum Range Flight
This article presents a framework and develops a formulation to solve a path planning problem for multiple heterogeneous Unmanned Vehicles (UVs) with uncertain service times for each vehicle--target pair. The vehicles incur a penalty…
This paper presents a bi-level optimization framework to compute the maximum-distance race strategies for a fully electric endurance race car, whilst accounting for the low-level vehicle dynamics and the thermal limitations of the…
Predictive motion planning is the key to achieve energy-efficient driving, which is one of the main benefits of automated driving. Researchers have been studying the planning of velocity trajectories, a simpler form of motion planning, for…
We address the aircraft conflict resolution problem under trajectory prediction uncertainty. We consider that aircraft velocity vectors may be perturbed due to weather effects, such as wind, or measurement errors. Such perturbations may…
Inspired by recent industrial efforts toward high altitude flying wireless access points powered by renewable energy, an online resource allocation problem for a mobile access point (AP) travelling at high altitude is formulated. The AP…
This paper deals with a general form of variational problems in Banach spaces which encompasses variational inequalities as well as minimization problems. We prove a characterization of local error bounds for the distance to the…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…
This article deals with the behavior in time of the solution to the Cauchy problem for a fractional wave equation with a weighted $L^1$ initial data. Initially, we establish the global existence of the solution using Fourier methods and…
A new solution for general half-plane contact problems subject to a constant normal load together with alternating shear loads and tension in the steady state is presented. The method uses a formulation where a displacement correction is…
In this paper we show all possible ramps where an object can move with constant speed under the effect of gravity and friction. The planar ramp are very easy to describe, just rotate a curve with velocity vector (tanh(as),sech(as)). Recall…
We introduce a model of infinite horizon linear dynamic optimization and obtain results concerning existence of solution and satisfaction of the competitive condition and transversality condition being unconditionally sufficient for…
Coverage of an inaccessible or challenging region with potential health and safety hazards, such as in a volcanic region, is difficult yet crucial from scientific and meteorological perspectives. Areas contained within the region often…
The problem of determining the angle at which a point mass launched from ground level with a given speed is a standard exercise in mechanics. Similar, yet conceptually and calculationally more difficult problems have been suggested to…
We consider an optimal control problem for the obstacle problem with an elliptic variational inequality. The obstacle function which is the control function is assumed in $H^{2}$. We use an approximate technique to introduce a family of…
A classic problem of the motion of a point mass (projectile) thrown at an angle to the horizon is reviewed. The air drag force is taken into account with the drag factor assumed to be constant. Analytic approach is used for investigation.…
This paper uses Pontryagin methods to analyze pulse-and-glide driving for different nominal vehicle speeds. There is significant literature supporting the fact that pulse-and-glide has the potential to reduce fuel consumption compared to…
We present an efficient transcription method for highly oscillatory optimal control problems. For these problems, the optimal state trajectory consists of fast oscillations that change slowly over the time horizon. Out of a large number of…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
We study a stochastic control problem for continuous multidimensional martingales with fixed quadratic variation. In a radially symmetric environment, we are able to find an explicit solution to the control problem and find an optimal…