Related papers: A hybrid control framework for an optimal visiting…
Hamilton-Jacobi reachability (HJR) is an exciting framework used for control of safety-critical systems with nonlinear and possibly uncertain dynamics. However, HJR suffers from the curse of dimensionality, with computation times growing…
The Traveling Tournament Problem(TTP) is a combinatorial optimization problem where we have to give a scheduling algorithm which minimizes the total distance traveled by all the participating teams of a double round-robin tournament…
Hamilton-Jacobi Reachability (HJR) analysis has been successfully used in many robotics and control tasks, and is especially effective in computing reach-avoid sets and control laws that enable an agent to reach a goal while satisfying…
In this article, we discuss two algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called deterministic trajectory optimization problems. Both algorithms can be derived from an…
We propose a neural network approach for solving high-dimensional optimal control problems. In particular, we focus on multi-agent control problems with obstacle and collision avoidance. These problems immediately become high-dimensional,…
With the recent surge of interest in using robotics and automation for civil purposes, providing safety and performance guarantees has become extremely important. In the past, differential games have been successfully used for the analysis…
The trajectory optimization of the atmospheric entry of a reusable launch vehicle is studied. The objective is to maximize the crossrange of the vehicle subject to two control-inequality path constraints, two state-inequality path…
The paper faces the problem of scheduling from a new perspective, trying to bridge the gap between classical heuristic approaches and system identification and control strategies. To this aim, a complete mathematical formulation of a…
Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…
A quantum navigation problem concerns the identification of a time-optimal Hamiltonian that realises a required quantum process or task, under the influence of a prevailing `background' Hamiltonian that cannot be manipulated. When the task…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
We consider a stochastic optimal control problem where the controller can anticipate the evolution of the driving noise over some dynamically changing time window. The controlled state dynamics are understood as a rough differential…
We present an accelerated algorithm for the solution of static Hamilton-Jacobi-Bellman equations related to optimal control problems. Our scheme is based on a classic policy iteration procedure, which is known to have superlinear…
Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision variables - such as velocity setpoints, control gains or…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
The paper addresses an optimal control problem for a perturbed sweeping process of the rate-independent hysteresis type described by a controlled "play and stop" operator with separately controlled perturbations. This problem can be reduced…
Trajectory recommendation is the problem of recommending a sequence of places in a city for a tourist to visit. It is strongly desirable for the recommended sequence to avoid loops, as tourists typically would not wish to revisit the same…
We consider the problem of proving that each point in a given set of states ("target set") can indeed be reached by a given nondeterministic continuous-time dynamical system from some initial state. We consider this problem for abstract…
In this paper, we consider reachability games over general hybrid systems, and distinguish between two possible observation frameworks for those games: either the precise dynamics of the system is seen by the players (this is the perfect…
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for dynamical systems, but solving high-dimensional HJ partial differential equations limits its use in real-time planning. This paper presents a contingency-aware…