Related papers: Optimal Control Strategies for Active Particle Nav…
This study investigates the use of global control strategies to enhance the directed migration of swarms of interacting self-propelled particles confined in a channel. Uncontrolled dynamics naturally leads to wall accumulation, clogging,…
In this paper we focus on a two-link swimmer called scallop which moves changing dynamics between two fluids regimes. We address and solve explicitly two optimal control problems, the minimum time one and the minimum quadratic cost needed…
Biological molecular machines convert free energy between different forms in cells, often at high efficiency. Optimal control theory provides a framework to elucidate design principles governing energetically efficient driving. Here, we use…
The optimal power flow problem plays an important role in the market clearing and operation of electric power systems. However, with increasing uncertainty from renewable energy operation, the optimal operating point of the system changes…
Finding optimal trajectories for multiple traffic demands in a congested network is a challenging task. Optimal transport theory is a principled approach that has been used successfully to study various transportation problems. Its usage is…
Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micromanipulation. This paper addresses the challenge of…
A central goal of thermodynamics is to identify optimal processes during which the least amount of energy is dissipated into the environment. Generally, even for simple systems, such as the parametric harmonic oscillator, optimal control…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
This work is devoted to generating optimal guidance commands in real time for attitude-constrained solar sailcrafts in coplanar circular-to-circular interplanetary transfers. Firstly, a nonlinear optimal control problem is established, and…
We consider optimal control of the scalar wave equation where the control enters as a coefficient in the principal part. Adding a total variation penalty allows showing existence of optimal controls, which requires continuity results for…
An enabling technology for future sea transports is safe and energy-efficient autonomous maritime navigation in narrow environments with other marine vessels present. This requires that the algorithm controlling the ship is able to account…
Many motile biological cells navigate along concentration gradients of signaling molecules: This chemotaxis guides for instance sperm cells from marine invertebrates, which have to find egg cells in the ocean. While chemotaxis has been…
Optimal transport has recently been brought forward as a tool for modeling and efficiently solving a variety of flow problems, such as origin-destination problems and multi-commodity flow problems. Although the framework has shown to be…
We use reinforcement learning to find strategies that allow microswimmers in turbulence to avoid regions of large strain. This question is motivated by the hypothesis that swimming microorganisms tend to avoid such regions to minimise the…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
Many autonomous systems face safety challenges, requiring robust closed-loop control to handle physical limitations and safety constraints. Real-world systems, like autonomous ships, encounter nonlinear dynamics and environmental…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
Trajectory tracking for microswimmers remains a key challenge in microrobotics, where low-Reynolds-number dynamics make control design particularly complex. In this work, we formulate the trajectory tracking problem as an optimal control…
Dynamic graph research is an essential subject in Computer Science. The shortest path problem is still the central in this field; moreover there is a variety of applications in practical projects. In this paper, we select the transportation…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…