Related papers: The collision avoidance and the controllability fo…
We provide sufficient conditions for the approximate controllability of infinite-dimensional quantum control systems corresponding to form perturbations of the drift Hamiltonian modulated by a control function. We rely on previous results…
This paper is devoted to the controllability of a general linear hyperbolic system in one space dimension using boundary controls on one side. Under precise and generic assumptions on the boundary conditions on the other side, we previously…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
In this work, we found a non trivial topology to achieve the controllability for linear and nonlinear system in finite or infinite time horizon. We give several examples illustrating this topologizing method for the controllability results.…
The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…
Autonomous systems operating in close proximity with each other to cover a specified area has many potential applications, but to achieve effective coordination, two key challenges need to be addressed: coordination and safety. For…
This paper is devoted to the study of the null and approximate controllability for some classes of linear coupled parabolic systems with less controls than equations. More precisely, for a given bounded domain in R^N, we consider a system…
Consider a finite family $\{f_1,\dots,f_\nu\}$ of $C^\infty$ vector fields on a $n$-dimensional ($n\in\mathbb{N}$), smooth manifold $\mathcal{M}$. The celebrated Rashevskii-Chow theorem states that, provided the vector fields…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
This paper investigates the exact controllability problem for multi-dimensional stochastic first-order symmetric hyperbolic systems with control inputs acting in two distinct ways: an internal control applied to the diffusion term and a…
We study the controllability of a Partial Differential Equation of transport type, that arises in crowd models. We are interested in controlling it with a control being a vector field, representing a perturbation of the velocity, localized…
We consider the motion of a rigid body immersed in a two-dimensional viscous incompressible fluid with Navierslip-with-friction conditions at the solid boundary. The fluid-solid system occupies the whole plane. We provethe small-time exact…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…
In this paper, we consider the wave equation with both a viscous Kelvin-Voigt and frictional damping as a model of viscoelasticity in which we incorporate an internal control with a moving support. We prove the null controllability when the…
Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we employ viability theory to pre-compute safe sets in the…
The paper is devoted to studying controllability properties for 3D Navier-Stokes equations in a bounded domain. We establish a sufficient condition under which the problem in question is exactly controllable in any finite-dimensional…
In this article we study the minimal time for the exact controllability of one-dimensional first-order linear hyperbolic systems when all the controls are acting on the same side of the boundary. We establish an explicit and easy-to-compute…
The control system described by Urysohn type integral equation is considered where the system is nonlinear with respect to the phase vector and is affine with respect to the control vector. The control functions are chosen from the closed…
We prove the internal controllability of some systems of two coupled wave equations in one space dimension, with one control, under certain conditions on the coupling. To do this we apply the "fictitious control method" in two cases:…
We study controllability issues for the 2D Euler and Navier-Stokes (NS) systems under periodic boundary conditions. These systems describe motion of homogeneous ideal or viscous incompressible fluid on a two-dimensional torus…