Related papers: Solving Optimal Control Problems of Rigid-Body Dyn…
Predicting the response of an observed system to a known input is a fruitful first step to accurately control the system's dynamics. Despite the recent advances in fully data-driven algorithms, the most interpretable way to reach this goal…
Minimally invasive surgery (MIS) procedures benefit significantly from robotic systems due to their improved precision and dexterity. However, ensuring safety in these dynamic and cluttered environments is an ongoing challenge. This paper…
We study the reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost functions for continuous-time and discrete-time systems. We…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…
This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model predictive control (MPC) framework. Representing these…
We study variational obstacle avoidance problems on complete Riemannian manifolds and apply the results to the construction of piecewise smooth curves interpolating a set of knot points in systems with impulse effects. We derive the…
Equipping approximate dynamic programming (ADP) with inputconstraints has a tremendous significance. This enables ADP to be applied tothe systems with actuator limitations, which is quite common for dynamicalsystems. In a conventional…
Stochastic Optimal Control Problems (SOCPs) plays a major role in the sequential decision-making challenges. There exist various iterative algorithms, under framework of stochastic maximum principle, that sequentially find the optimal…
Coulomb collisions in particle simulations for weakly coupled plasmas are modeled by the Landau-Fokker-Planck equation, which is typically solved by Monte-Carlo (MC) methods. One of the main disadvantages of MC is the timestep accuracy…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
In this paper we demonstrate a novel alternating direction method of multipliers (ADMM) algorithm for the solution of the hybrid vehicle energy management problem considering both power split and engine on/off decisions. The solution of a…
We introduce a new closed-loop architecture for the online solution of approximate optimal control problems in the context of continuous-time systems. Specifically, we introduce the first algorithm that incorporates dynamic momentum in…
Momentum methods for convex optimization often rely on precise choices of algorithmic parameters, based on knowledge of problem parameters, in order to achieve fast convergence, as well as to prevent oscillations that could severely…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
Direct methods for the simulation of optimal control problems apply a specific discretization to the dynamics of the problem, and the discrete adjoint method is suitable to calculate corresponding conditions to approximate an optimal…
Driving simulators have been used in the automotive industry for many years because of their ability to perform tests in a safe, reproducible and controlled immersive virtual environment. The improved performance of the simulator and its…
Retractions maps are used to define a discretization of the tangent bundle of the configuration manifold as two copies of the configuration manifold where the dynamics take place. Such discretization maps can be conveniently lifted to the…
We consider nonsmooth optimal control problems subject to a linear elliptic partial differential equation with homogeneous Dirichlet boundary conditions. It is well-known that local solutions satisfy the celebrated Pontryagin maximum…