Related papers: Optimal Configurations in Coverage Control with Po…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
Initially introduced in the framework of quantum control, the so-called "monotonic algorithms" have demonstrated excellent numerical performance when dealing with bilinear optimal control problems. This paper presents a unified formulation…
We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile nodes to minimize an uncertainty metric in a given mission space. For multi agent in a one-dimensional…
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…
We consider massively dense ad hoc networks and study their continuum limits as the node density increases and as the graph providing the available routes becomes a continuous area with location and congestion dependent costs. We study both…
This paper considers the infinite horizon optimal control problem for nonlinear systems. Under the condition of nonlinear controllability of the system to any terminal set containing the origin and forward invariance of the terminal set, we…
The paper studies a class of quadratic optimal control problems for partially observable linear dynamical systems. In contrast to the full information case, the control is required to be adapted to the filtration generated by the…
We describe, for the first time, a completely rigorous homotopy (path--following) algorithm (in the Turing machine model) to find approximate zeros of systems of polynomial equations. If the coordinates of the input systems and the initial…
Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles…
We demonstrate applications of algebraic techniques that optimize and certify polynomial inequalities to problems of interest in the operations research and transportation engineering communities. Three problems are considered: (i) wireless…
A system of renewal equations on a graph provides a framework to describe the exploitation of a biological resource. In this context, we formulate an optimal control problem, prove the existence of an optimal control and ensure that the…
We consider the problem of distributed formation control of a large number of vehicles. An individual vehicle in the formation is assumed to be a fully actuated point mass. A distributed control law is examined: the control action on an…
In optimal control problems defined on stratified domains, the dynamics and the running cost may have discontinuities on a finite union of submanifolds of RN. In [8, 5], the corresponding value function is characterized as the unique…
We study several natural instances of the geometric hitting set problem for input consisting of sets of line segments (and rays, lines) having a small number of distinct slopes. These problems model path monitoring (e.g., on road networks)…
A new method is described for solving optimal control problems using direct collocation at Legendre-Gauss-Lobatto points. The approach of this paper employs a polynomial approximation of the right-hand side vector field of the differential…
We study the numerical solution of nonlinear partially observed optimal stopping problems. The system state is taken to be a multi-dimensional diffusion and drives the drift of the observation process, which is another multi-dimensional…
This work proposes a method for solving linear stochastic optimal control (SOC) problems using sum of squares and semidefinite programming. Previous work had used polynomial optimization to approximate the value function, requiring a high…
$\delta$-Covering, for some covering range $\delta>0$, is a continuous facility location problem on undirected graphs where all edges have unit length. The facilities may be positioned on the vertices as well as on the interior of the…
In practice, navigation of mobile robots in confined environments is often done using a spatially discrete cost-map to represent obstacles. Path following is a typical use case for model predictive control (MPC), but formulating constraints…
This paper considers the problem of minimal control inputs to affect the system states such that the resulting system is structurally controllable. This problem and the dual problem of minimal observability are claimed to have no…