Related papers: Pace and motor control optimization for a runner
Runners competing in races are looking to optimize their performance. In this paper, a runner's performance in a race, such as a marathon, is formulated as an optimal control problem where the controls are: the nutrition intake throughout…
A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed control strategy uses the data from previous laps to improve…
The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as…
In order to determine the optimal strategy to run a race on a curved track according to the lane number, we introduce a model based on differential equations for the velocity, the propulsive force and the anaerobic energy which takes into…
In order to describe the velocity and the anaerobic energy of two runners competing against each other for middle-distance races, we present a mathematical model relying on an optimal control problem for a system of ordinary differential…
The aim of ramp metering is to improve the highway traffic conditions by an appropriate regulation of the inflow from the on-ramps to the highway mainstream. Our presentation rests on several improvements: 1) Our simulation techniques do…
A good racing strategy and in particular the racing line is decisive to winning races in Formula 1, MotoGP, and other forms of motor racing. The racing line defines the path followed around a track as well as the optimal speed profile along…
The aim of this paper is to bring a mathematical justification to the optimal way of organizing one's effort when running. It is well known from physiologists that all running exercises of duration less than 3mn are run with a strong…
In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
Engineering a high-performance race car requires a direct consideration of the human driver using real-world tests or Human-Driver-in-the-Loop simulations. Apart from that, offline simulations with human-like race driver models could make…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is solved by an NMPC-based off-line trajectory planner that…
The objective of this work is to provide a mathematical analysis on how a Thoroughbred horse should regulate its speed over the course of a race to optimize performance. Because Thoroughbred horses are not capable of running the whole race…
We consider the problem of controlling a vehicle to arrive at a fixed destination while minimizing a combination of energy consumption and travel time. Our model includes vehicle speed and accelaration limits, aerodynamic drag, rolling…
A large body of animation research focuses on optimization of movement control, either as action sequences or policy parameters. However, as closed-form expressions of the objective functions are often not available, our understanding of…
We present a novel control-oriented motorcycle model and use it for computing racing lines on a nonplanar racetrack. The proposed model combines recent advances in nonplanar road models with the dynamics of motorcycles. Our approach…
This paper describes autonomous racing of RC race cars based on mathematical optimization. Using a dynamical model of the vehicle, control inputs are computed by receding horizon based controllers, where the objective is to maximize…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
The \emph{turnpike property} in contemporary macroeconomics asserts that if an economic planner seeks to move an economy from one level of capital to another, then the most efficient path, as long as the planner has enough time, is to…