Related papers: Multi-objective Anti-swing Trajectory Planning of …
For autonomous crane lifting, optimal trajectories of the crane are required as reference inputs to the crane controller to facilitate feedforward control. Reducing the unactuated payload motion is a crucial issue for under-actuated tower…
Transferring heavy payloads in maritime settings relies on efficient crane operation, limited by hazardous double-pendulum payload sway. This sway motion is further exacerbated in offshore environments by external perturbations from wind…
In this paper, we explore a broad class of constrained saddle point problems with a bilevel structure, wherein the upper-level objective function is nonconvex-concave and smooth over compact and convex constraint sets, subject to a strongly…
Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…
We consider a multi-location inventory system where inventory choices at each location are centrally coordinated. Lateral transshipments are allowed as recourse actions within the same echelon in the inventory system to reduce costs and…
To coordinate the economy, security and environment protection in the power system operation, a two-step many-objective optimal power flow (MaOPF) solution method is proposed. In step 1, it is the first time that knee point-driven…
With the growth of the construction industry and the global shortage of skilled labor, the automation of crane control has become increasingly important for safe and efficient operations. A central challenge in automatic crane control is…
This paper presents an evolutionary algorithm with a new goal-sequence domination scheme for better decision support in multi-objective optimization. The approach allows the inclusion of advanced hard/soft priority and constraint…
Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives. The idea is to provide a possibility to change the objective in real-time, e.g.~as a reaction to changes in the…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
We propose an efficient motion planning method designed to efficiently find collision-free trajectories for multiple manipulators. While multi-manipulator systems offer significant advantages, coordinating their motions is computationally…
Evolutionary algorithms are particularly effective for optimisation problems with dynamic and stochastic components. We propose multi-objective evolutionary approaches for the knapsack problem with stochastic profits under static and…
Most of the real-world problems are multimodal in nature that consists of multiple optimum values. Multimodal optimization is defined as the process of finding multiple global and local optima (as opposed to a single solution) of a…
This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In Stage I, an Enhanced Tube-RRT* algorithm…
In this work, a cost-efficient space-time adaptive algorithm based on the Dual Weighted Residual (DWR) method is developed and studied for a coupled model problem of flow and convection-dominated transport. Key ingredients are a multirate…
In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite optimization objectives can be used to improve trajectory…