Related papers: A hybrid control framework for an optimal visiting…
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space with a single spherical obstacle. The robot moves straight…
This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…
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…
In a crowd model based on leader-follower interactions, where positions of the leaders are viewed as the control input, up-to-date solutions rely on knowledge of the agents' coordinates. In practice, it is more realistic to exploit…
The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are…
In this research, a new variant of the vehicle routing problem with time windows is addressed. The nodes associated with the customers are related to each other through AND/OR precedence constraints. The objective is minimizing the total…
We study problems of optimal boundary control with systems governed by linear hyperbolic partial differential equations. The objective function is quadratic and given by an integral over the finite time interval $(0,\, T)$ that depends on…
This paper is concerned with a partially observed hybrid optimal control problem, where continuous dynamics and discrete events coexist and in particular, the continuous dynamics can be observed while the discrete events, described by a…
Multi-agent differential games are important and useful tools for analyzing many practical problems. With the recent surge of interest in using UAVs for civil purposes, the importance and urgency of developing tractable multi-agent analysis…
We study discrete-time finite-horizon optimal control problems in probability spaces, whereby the state of the system is a probability measure. We show that, in many instances, the solution of dynamic programming in probability spaces…
Classical deterministic optimal control problems assume full information about the controlled process. The theory of control for general partially-observable processes is powerful, but the methods are computationally expensive and typically…
In this paper we consider a set of travelers, starting from likely different locations towards a common destination within a road network, and propose solutions to find the optimal connecting points for them. A connecting point is a vertex…
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…
As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…
We investigate the problem of optimally observing a finite set of targets using a mobile agent over an infinite time horizon. The agent is tasked to move in a network-constrained structure to gather information so as to minimize the…
This research proposes a novel indicator-based hybrid evolutionary approach that combines approximate and exact algorithms. We apply it to a new bi-criteria formulation of the travelling thief problem, which is known to the Evolutionary…
A hybrid network is a static (electronic) network that is augmented with optical switches. The Reconfigurable Routing Problem (RRP) in hybrid networks is the problem of finding settings for the optical switches augmenting a static network…
This paper studies a problem of controlling trajectories of a platoon of vehicles on a highway segment with connected and automated vehicles. This problem is complex because each vehicle trajectory is an infinite-dimensional object and…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a…