Related papers: Optimal Control Strategies for Active Particle Nav…
Direct optimal control theory for quantum dynamical problems presents itself as an interesting alternative to the traditional indirect optimal control. The method relies on the first discretize and then optimize paradigm, where a…
We consider the Zermelo navigation problem on the ellipsoid of revolution (spheroid) in the presence of a perturbation $W$ determined by a mild velocity vector field, $|W|<1$, with application of Finsler metric of Randers type in the…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
Symbolic optimal control is a powerful method to synthesize algorithmically correct-by-design state-feedback controllers for nonlinear plants. Its solutions are (near-)optimal with respect to a given cost function. In this note, it is…
Deep reinforcement learning in continuous domains focuses on learning control policies that map states to distributions over actions that ideally concentrate on the optimal choices in each step. In multi-agent navigation problems, the…
Control of self-propelled particles is central to the development of many microrobotic technologies, from dynamically reconfigurable materials to advanced lab-on-a-chip systems. However, there are few physical principles by which particle…
The collective motion of microorganisms and microrobots can be used for particle delivery, especially when guided by external magnetic fields, phototaxis, or chemotaxis. This cargo transport is enhanced significantly by hydrodynamic…
Efficient particle sorting in microfluidic systems is vital for advancements in biomedical diagnostics and industrial applications. This study numerically investigates particle migration and passive sorting in symmetric serpentine…
Many eukaryotic cells use the active waving motion of flexible flagella to self-propel in viscous fluids. However, the criteria governing the selection of particular flagellar waveforms among all possible shapes has proved elusive so far.…
The problem of finding an electric vehicle route that optimizes both driving time and energy consumption can be modeled as a bicriterion path problem. Unfortunately, the problem of finding optimal bicriterion paths is NP-complete. This…
A theoretical framework and numerical techniques to solve optimal control problems with a spatial trace term in the terminal cost and governed by regularized nonlinear hyperbolic conservation laws are provided. Depending on the spatial…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
Most microscopic pedestrian navigation models use the concept of "forces" applied to the pedestrian agents to replicate the navigation environment. While the approach could provide believable results in regular situations, it does not…
The main steps of automatic control methodology include the hierarchical representation of management system and the formal definitions of input variables, object and goal of control of each management level. A Petri net model of individual…
In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…
We show that choosing appropriate distributions of the randomness, the search for optimal paths links diverse problems of disordered media like directed percolation, invasion percolation, directed and non-directed spanning polymers. We also…
Many engineered systems, such as energy and transportation infrastructures, are networks governed by non-linear physical laws. A primary challenge for operators of these networks is to achieve optimal utilization while maintaining safety…
The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle.…
This article gives an introduction to optimal transport, a mathematical theory that makes it possible to measure distances between functions (or distances between more general objects), to interpolate between objects or to enforce…
This article concerns the problem of computing solutions to state-constrained optimal control problems whose trajectory is affected by a flow field. This general mathematical framework is particularly pertinent to the requirements…