Related papers: Efficient two-dimensional control of barrier cross…
We introduce the notion of importance sampling under embedded barrier state control, titled Safety Controlled Model Predictive Path Integral Control (SC-MPPI). For robotic systems operating in an environment with multiple constraints, hard…
We study the optimal control of propagation of packets in delay tolerant mobile ad-hoc networks. We consider a two-hop forwarding policy under which the expected number of nodes carrying copies of the packets obeys a linear dynamics. We…
The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with…
Two-dimensional arrays of optical micro-traps created by microoptical elements present a versatile and scalable architecture for neutral atom quantum information processing, quantum simulation, and the manipulation of ultra-cold quantum…
This paper is devoted to the controllability analysis of a class of linear control systems in a Hilbert space. It is proposed to use the minimum energy controls of a reduced lumped parameter system for solving the infinite dimensional…
This paper presents a data-driven Model Predictive Control (MPC) for energy-efficient urban road driving for connected, automated vehicles. The proposed MPC aims to minimize total energy consumption by controlling the vehicle's longitudinal…
We formulate a control system model for the distributed flow of mixtures of highly heterogeneous gases through large-scale pipeline networks with time-varying injections of constituents, withdrawals, and control actions of compressors. This…
Flow control aims at modifying a natural flow state to reach an other flow state considered as advantageous. In this paper, active feedback flow separation control is investigated with two different closed-loop control strategies, involving…
This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…
We address the persistent monitoring problem in two-dimensional mission spaces where the objective is to control the trajectories of multiple cooperating agents to minimize an uncertainty metric. In a one-dimensional mission space, we have…
This paper considers a two-dimensional persistent monitoring problem by controlling movements of second-order agents to minimize some uncertainty metric associated with targets in a dynamic environment. In contrast to common sensing models…
We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization…
We theoretically study the trapping time distribution and the efficiency of the excitation energy transport in dendritic systems. Trapping of excitations, created at the periphery of the dendrimer, on a trap located at its core, is used as…
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…
Most modern control systems are switched, meaning they have continuous as well as discrete decision variables. Switched systems often have constraints called dwell-time constraints (e.g., cycling constraints in a heat pump) on the switching…
This paper introduces a new formulation for stochastic optimal control and stochastic dynamic optimization that ensures safety with respect to state and control constraints. The proposed methodology brings together concepts such as…
The evolution of a system induced by counter-diabatic driving mimics the adiabatic dynamics without the requirement of slow driving. Engineering it involves diagonalizing the instantaneous Hamiltonian of the system and results in the need…
Adiabatic quantum computation employs a slow change of a time-dependent control function (or functions) to interpolate between an initial and final Hamiltonian, which helps to keep the system in the instantaneous ground state. When the…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution…