Related papers: Crowd motion paradigm modeled by a bilevel sweepin…
Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…
In this work, we present typical challenges encountered when developing methods for controlling crowds of people (or animal swarms). We discuss which elements shall be considered and the role they play to achieve a robust control in a…
In pedestrian dynamics, the internal drive that propels individuals toward their goals is typically captured by a single, fixed parameter, the desired walking speed. This simplification overlooks that motivation fluctuates in response to…
In this paper, problems of optimal control are considered where in the objective function, in addition to the control cost there is a tracking term that measures the distance to a desired stationary state. The tracking term is given by some…
Crowd navigation has received increasing attention from researchers over the last few decades, resulting in the emergence of numerous approaches aimed at addressing this problem to date. Our proposed approach couples agent motion prediction…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
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…
This paper is concerned with a general maximum principle for the fully coupled forward-backward stochastic optimal control problem with jumps, where the control domain is not necessarily convex, within the progressively measurable…
Gathering is a fundamental coordination problem in swarm robotics, where the objective is to bring robots together at a point not known to them at the beginning. While most research focuses on continuous domains, some studies also examine…
In this paper, the study of nonsmooth optimal control problems (P) involving a controlled sweeping process with three main characteristics is launched. First, the sweeping sets are nonsmooth, time-dependent, and uniformly prox-regular.…
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…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
We study a constrained optimal control problem for an ensemble of control systems. Each sub-system (or plant) evolves on a matrix Lie group, and must satisfy given state and control action constraints pointwise in time. In addition, certain…
Navigating through dense human crowds remains a significant challenge for mobile robots. A key issue is the freezing robot problem, where the robot struggles to find safe motions and becomes stuck within the crowd. To address this, we…
Traffic congestion has become a nightmare to modern life in metropolitan cities. On average, a driver spending X hours a year stuck in traffic is one of most common sentences we often read regarding traffic congestion. Our aim in this…
We consider a dynamic collective choice problem where a large number of players are cooperatively choosing between multiple destinations while being influenced by the behavior of the group. For example, in a robotic swarm exploring a new…
Two major problems in modern cities are air contamination and road congestion. They are closely related and present a similar origin: traffic flow. To face these problems, local governments impose traffic restrictions to prevent the entry…
In this paper, we prove a Pontryagin Maximum Principle for constrained optimal control problems in the Wasserstein space of probability measures. The dynamics, is described by a transport equation with non-local velocities and is subject to…
Predicting human mobility is crucial for urban planning, traffic control, and emergency response. Mobility behaviors can be categorized into individual and collective, and these behaviors are recorded by diverse mobility data, such as…
This paper treats an optimal scheduling problem of control nodes in networked systems. We newly introduce both the L0 and l0 constraints on control inputs to extract a time-varying small number of effective control nodes. As the cost…