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In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
The broad success of theoretical and experimental quantum optimal control is intimately connected to the topology of the underlying control landscape. For several common quantum control goals, including the maximization of an observable…
Despite the growing level of technological advancement that characterizes extrusion-deposition additive manufacturing technology, there remains a significant knowledge gap in fully understanding the process-structure-property relationship…
We optimize a general model of bioprocesses, which is nonconvex due to the microbial growth in the biochemical reactors. We formulate a convex relaxation and give conditions guaranteeing its exactness in both the transient and steady state…
This paper proposes a self-support topology optimization method that considers distortion to improve the manufacturability of additive manufacturing. First, a self-support constraint is proposed that combines an overhang angle constraint…
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…
The management of irrigation water systems has become increasingly complex due to competing demands for agricultural production, groundwater sustainability, and environmental flow requirements, particularly under hydrologic variability and…
State-of-the-art aeronautic Low Pressure gas Turbines (LPTs) are already characterized by high quality standards, thus they offer very narrow margins of improvement. Typical design process starts with a Concept Design (CD) phase, defined…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
Kinetic modeling of microbial growth is essential for the design, optimization, and scale-up of industrial bioprocesses. Classical empirical models often lack biologically interpretable parameters or fail to capture complex multiphasic…
We study an optimization problem that aims to determine the shape of an obstacle that is submerged in a fluid governed by the Stokes equations. The mentioned flow takes place in a channel, which motivated the imposition of a Poiseuille-like…
For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…
Hydrodynamic modelling is an important tool for the development of tidal stream energy projects. Many hydrodynamic models incorporate the effect of tidal turbines through an enhanced bottom drag. In this paper we show that although for…
This paper proposes a novel density-based method for structural design considering restrictions of multi-axis machining processes. A new mathematical formulation based on Heaviside function is presented to transform the design field into a…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
This paper treats topology optimization of natural convection problems. A simplified model is suggested to describe the flow of an incompressible fluid in steady state conditions, similar to Darcy's law for fluid flow in porous media. The…
Predicting rapid and slower soil evolution remains a scientific challenge. This process involves poorly understood aspects of disordered granular matter and dense suspension dynamics. This study presents a novel two-dimensional experiment…
Persistence-based topological optimization deforms a point cloud $X \subset \mathbb{R}^d$ by minimizing objectives of the form $L(X) = \ell(\mathrm{Dgm}(X))$, where $\mathrm{Dgm}(X)$ is a persistence diagram. In practice, optimization is…