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This paper considers the problem of computing the schedule of modes in a switched dynamical system, that minimizes a cost functional defined on the trajectory of the system's continuous state variable. A recent approach to such optimal…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Methods for interactive evaluation of the functioning efficiency of the motor transport system for a large city based on the use of U-statistics methods has been formalized. To optimize this technique, effective algorithmic constructions…
Public-transit systems face a number of operational challenges: (a) changing ridership patterns requiring optimization of fixed line services, (b) optimizing vehicle-to-trip assignments to reduce maintenance and operation codes, and (c)…
The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…
A parallel computer system is a collection of processing elements that communicate and cooperate to solve large computational problems efficiently. To achieve this, at first the large computational problem is partitioned into several tasks…
Everyday robotics are challenged to deal with autonomous product handling in applications like logistics or retail, possibly causing damage on the items during manipulation. Traditionally, most approaches try to minimize physical…
The links between optimal control of dynamical systems and neural networks have proved beneficial both from a theoretical and from a practical point of view. Several researchers have exploited these links to investigate the stability of…
Networks of coupled dynamical systems provide a powerful way to model systems with enormously complex dynamics, such as the human brain. Control of synchronization in such networked systems has far reaching applications in many domains,…
This paper proposes a detailed optimal scheduling model of an exemplar multi-energy system comprising combined cycle power plants (CCPPs), battery energy storage systems, renewable energy sources, boilers, thermal energy storage…
This study addresses the challenge of efficiently assigning locomotives in large freight rail networks, where operational complexity and power imbalances make cost-effective planning difficult. It presents a strategic optimization framework…
Actuator location and design are important choices in controller design for distributed parameter systems. Semi-linear partial differential equations model a wide spectrum of physical systems with distributed parameters. It is shown that…
Model order reduction in high-dimensional, nonlinear dynamical systems if often enabled through fast-slow timescale separation. One such approach involves identifying a low-dimensional slow manifold to which the state rapidly converges and…
CPU being considered a primary computer resource, its scheduling is central to operating-system design. A thorough performance evaluation of various scheduling algorithms manifests that Round Robin Algorithm is considered as optimal in time…
Railway scheduling consists in ensuring that a set of trains evolve in a shared rail network without collisions, while meeting schedule constraints. This problem is notoriously difficult, even more in the case of uncertain or even unknown…
Trains are a corner stone of public transport and play an important role in daily life. A challenging task in train operation is to avoid skidding and sliding during fast changes of traction conditions, which can, for example, occur due to…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…