Related papers: Task-driven Modular Co-design of Vehicle Control S…
In this paper we study the control co-design (CCD) synthesis problem for a class of systems with parabolic partial differential equation (PDE) dynamics. We formulate CCD problem and finally derive an approximate CCD problem with matrix…
We present methods to synthesize cooperative strategies for multi-vehicle control problems using mixed integer linear programming. Complex multi-vehicle control problems are expressed as mixed logical dynamical systems. Optimal strategies…
We discuss the role of monotonicity in enabling numerically tractable modular control design for networked nonlinear systems. We first show that the variational systems of monotone systems can be embedded into positive systems. Utilizing…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…
Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver's abilities to control. The human driver, as an essential agent in the driver-vehicle shared control…
We study the problem of designing systems in order to minimize cost while meeting a given flexibility target. Flexibility is attained by enforcing a joint chance constraint, which ensures that the system will exhibit feasible operation with…
This paper discusses the integration challenges and strategies for designing mobile robots, by focusing on the task-driven, optimal selection of hardware and software to balance safety, efficiency, and minimal usage of resources such as…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared…
We consider the optimal control of quantum systems interacting non-linearly with an electromagnetic field. We propose new monotonically convergent algorithms to solve the optimal equations. The monotonic behavior of the algorithm is ensured…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
This paper addresses the task allocation problem for multi-robot systems. The main issue with the task allocation problem is inherent complexity that makes finding an optimal solution within a reasonable time almost impossible. To hand the…
Autonomous driving is a complex undertaking. A common approach is to break down the driving task into individual subtasks through modularization. These sub-modules are usually developed and published separately. However, if these…
The advent of autonomous driving and electrification is enabling the deployment of Electric Autonomous Mobility-on-Demand (E-AMoD) systems, whereby electric autonomous vehicles provide on-demand mobility. Crucially, the design of the…
Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control…
Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…
In the control of many autonomous subsystems, such as autonomous vehicles or UAV networks, a centralized control may be hindered by the prohibitive complexity, limited communication bandwidth, or private information of subsystems.…
Small-scale autonomous vehicle platforms provide a cost-effective environment for developing and testing advanced driving systems. However, specific configurations within this scale are underrepresented, limiting full awareness of their…
Autonomous robots need to be able to handle uncertainties when deployed in the real world. For the robot to be able to robustly work in such an environment, it needs to be able to adapt both its architecture as well as its task plan.…