Related papers: A new mathematical model and algorithm for the opt…
This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths -- paths that consist of a circular arc (C) followed by a straight segment (S) followed by a…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
This paper reviews the overview of the dynamic shortest path routing problem and the various neural networks to solve it. Different shortest path optimization problems can be solved by using various neural networks algorithms. The routing…
In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in $CGC$, $CCC$, $CCCC$, and $CCCCC$ paths, which have previously been shown to be optimal…
In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We…
In this paper, we introduce a trajectory planning problem for a marsupial robotics system consisting of a ground robot, a drone, and a taut tether of bounded length connecting the two robots. This problem can be framed within the context of…
In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…
We consider the bi-criteria shortest-path problem where we want to compute shortest paths on a graph that simultaneously balance two cost functions. While this problem has numerous applications, there is usually no path minimizing both cost…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…
This paper tackles the multi-objective optimization of the cost functional of a path-following model predictive control for vehicle longitudinal and lateral control. While the inherent optimal character of the model predictive control and…
We present a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative bearing angle (even if the target…
We address optimal placement of vehicles with simple motion to intercept a mobile target that arrives stochastically on a line segment. The optimality of vehicle placement is measured through a cost function associated with intercepting the…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
In this paper, we propose a sampling-based planning and optimal control method of nonlinear systems under non-differentiable constraints. Motivated by developing scalable planning algorithms, we consider the optimal motion plan to be a…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
Motivated by the fact that intelligent traffic control systems have become inevitable demand to cope with the risk of traffic congestion in urban areas, this paper develops a distributed control strategy for urban traffic networks. Since…
We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile agents to minimize an uncertainty metric in a given mission space. For a single agent in a one-dimensional…