Related papers: Quadratic approximation based heuristic for optimi…
One of the most well-known problems in transportation and logistics is the Capacitated Vehicle Routing Problem (CVRP). It involves optimizing a set of truck routes to service a set of customers, subject to limits on truck capacity, to…
In this paper we propose a fast optimization algorithm for approximately minimizing convex quadratic functions over the intersection of affine and separable constraints (i.e., the Cartesian product of possibly nonconvex real sets). This…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
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…
This work considers the problem of optimize the routes of the vehicles used by a real agricultural cooperative that distributes animal feed among the partners. Because solving the exact model is computationally burdensome, we propose to…
We propose a quantum-assisted framework for solving constrained finite-horizon nonlinear optimal control problems using a barrier Sequential Quadratic Programming (SQP) approach. Within this framework, a quantum subroutine is incorporated…
We present a novel method to address the problem of multi-vehicle conflict resolution in highly constrained spaces. An optimal control problem is formulated to incorporate nonlinear, non-holonomic vehicle dynamics and exact collision…
The cooperative control of the connected and automated vehicle (CAV) is recognized as an effective approach to alleviate traffic congestion and improve traffic safety, especially for on-ramp bottlenecks. However, in the mixed traffic, the…
We provide theoretical foundations and computational tools for the systematic design of optimization-based control laws with constraints that have different priorities. By introducing the concept of prioritized intersections, we extend and…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
The Vehicle Routing Problem (VRP) is an example of a combinatorial optimization problem that has attracted academic attention due to its potential use in various contexts. VRP aims to arrange vehicle deliveries to several sites in the most…
This paper presents a model for a vehicle routing problem in which customer demands are stochastic and vehicles are divided into compartments. The problem is motivated by the needs of certain agricultural cooperatives that produce various…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
This paper addresses the challenge of generating optimal vehicle flow at the macroscopic level. Although several studies have focused on optimizing vehicle flow, little attention has been given to ensuring it can be practically achieved. To…
Many relevant problems in industrial settings result in NP-hard optimization problems, such as the Capacitated Vehicle Routing Problem (CVRP) or its reduced variant, the Travelling Salesperson Problem (TSP). Even with today's most powerful…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body compliance. However, for the one-step HQP, the solution can…