Related papers: Shortest-path recovery from signature with an opti…
In this work we address a game theoretic variant of the shortest path problem, in which two decision makers (players) move together along the edges of a graph from a given starting vertex to a given destination. The two players take turns…
In this paper, we propose to study on sufficient control of complex networks which is to control a sufficiently large portion of the network, where only the quantity of controllable nodes matters. To the best of our knowledge, this is the…
In this paper, we study simple splines on a Riemannian manifold $Q$ from the point of view of the Pontryagin maximum principle (PMP) in optimal control theory. The control problem consists in finding smooth curves matching two given tangent…
This paper presents a novel factor graph-based approach to solve the discrete-time finite-horizon Linear Quadratic Regulator problem subject to auxiliary linear equality constraints within and across time steps. We represent such optimal…
We demonstrate that challenging shortest path problems can be solved via direct spline regression from a neural network, trained in an unsupervised manner (i.e. without requiring ground truth optimal paths for training). To achieve this, we…
We study an "above guarantee" version of the {\sc Longest Path} problem in directed graphs: We are given a graph $G$, two vertices $s$ and $t$ of $G$, and a non-negative integer $k$, and the objective is to determine whether $G$ contains a…
This paper presents an inverse optimality method to solve the Hamilton-Jacobi-Bellman equation for a class of nonlinear problems for which the cost is quadratic and the dynamics are affine in the input. The method is inverse optimal because…
Given a graph and a pair of terminals $s$, $t$, the next-to-shortest path problem asks for an $s\!\to \!t$ (simple) path that is shortest among all not shortest $s\!\to \!t$ paths (if one exists). This problem was introduced in 1996, and…
Optimal control of switched systems is challenging due to the discrete nature of the switching control input. The embedding-based approach addresses this challenge by solving a corresponding relaxed optimal control problem with only…
Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose…
The paper is concerned with a general optimization problem for a nonlinear control system, in the presence of a running cost and a terminal cost, with free terminal time. We prove the existence of a patchy feedback whose trajectories are…
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…
We solve the optimal control problem of a one-dimensional reflected stochastic differential equation, whose coefficients can be path dependent. The value function of this problem is characterized by a backward stochastic partial…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
Image reconstruction in X-ray tomography is an ill-posed inverse problem, particularly with limited available data. Regularization is thus essential, but its effectiveness hinges on the choice of a regularization parameter that balances…
This paper studies the bioremediation, in minimal time, of a water resource or reservoir using a single continuous bioreactor. The bioreactor is connected to two pumps, at different locations in the reservoir, that pump polluted water and…
Fix two points $x,\bar{x}\in S^2$ and two directions (without orientation) $\eta,\bar\eta$ of the velocities in these points. In this paper we are interested to the problem of minimizing the cost $$ J[\gamma]=\int_0^T…
Choosing control inputs randomly can result in a reduced expected cost in optimal control problems with stochastic constraints, such as stochastic model predictive control (SMPC). We consider a controller with initial randomization, meaning…
In this paper, we define the reoptimization variant of the closest substring problem (CSP) under sequence addition. We show that, even with the additional information we have about the problem instance, the problem of finding a closest…
In this paper we consider the minimum time population transfer problem for a two level quantum system driven by {\em two} external fields with bounded amplitude. The controls are modeled as real functions and we do not use the Rotating Wave…