Related papers: The Weighted Markov-Dubins Problem
This paper presents a rapid (real time) solution to the minimum-time path planning problem for Dubins vehicles under environmental currents (wind or ocean currents). Real-time solutions are essential in time-critical situations (such as…
Guaranteeing stringent data freshness for low-altitude unmanned aerial vehicles (UAVs) in shared spectrum forces a critical trade-off between two operational costs: the UAV's own energy consumption and the occupation of terrestrial channel…
We propose a method to generate robust and optimal trajectories for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft leveraging concepts from convex optimisation, tube-based nonlinear Model Predictive Control (MPC)…
We develop two penalty based difference of convex (DC) algorithms for solving chance constrained programs. First, leveraging a rank-based DC decomposition of the chance constraint, we propose a proximal penalty based DC algorithm in the…
This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited…
In this paper, scheduling problems of aircraft minimizing the total delays on a same runway and on dual runways are studied. In contrast to the algorithms based on mixed-integer optimization models in existing works, where the optimality…
Multi-Agent Path Finding (MAPF) remains a fundamental challenge in robotics, where classical centralized approaches exhibit exponential growth in joint-state complexity as the number of agents increases. This paper investigates Quadratic…
We shall present a measure theoretical approach for which together with the Kantorovich duality provide an efficient tool to study the optimal transport problem. Specifically, we study the support of optimal plans where the cost function…
This paper investigates the utilization of differential thrust to help a commercial aircraft with a damaged vertical stabilizer regain its lateral/directional stability. In the event of an aircraft losing its vertical stabilizer, the…
Constrained combinatorial optimization problems are frequently reformulated as quadratic unconstrained binary optimization (QUBO) models in order to leverage emerging quantum optimization algorithms such as the Variational Quantum…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
Coverage path planning with unmanned aerial vehicles (UAVs) is a core task for many services and applications including search and rescue, precision agriculture, infrastructure inspection and surveillance. This work proposes an integrated…
Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios where autonomous control of multiple UAVs is required. Most of…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
Dubins tours represent a solution of the Dubins Traveling Salesman Problem (DTSP) that is a variant of the optimization routing problem to determine a curvature-constrained shortest path to visit a set of locations such that the path is…
Given an infeasible, unbounded, or pathological convex optimization problem, a natural question to ask is: what is the smallest change we can make to the problem's parameters such that the problem becomes solvable? In this paper, we address…
In the Single Source Replacement Paths (SSRP) problem we are given a graph $G = (V, E)$, and a shortest paths tree $\widehat{K}$ rooted at a node $s$, and the goal is to output for every node $t \in V$ and for every edge $e$ in…
Models involving branched structures are employed to describe several supply-demand systems such as the structure of the nerves of a leaf, the system of roots of a tree and the nervous or cardiovascular systems. Given a flow (traffic path)…
In this work, we introduce a novel strategy for tackling constrained optimization problems through a modified penalty method. Conventional penalty methods convert constrained problems into unconstrained ones by incorporating constraints…
Optimal transportation problem seeks for a coupling $\pi$ of two probability measures $\mu$ and $\nu$ which minimize the total cost $\int c d\pi$, which is linear in $\pi$. In this paper, we introduce a variation of optimal transportation…