Related papers: Nonlinear Optimal Guidance for Cooperatively Impos…
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
This paper presents a noval method that generates optimal trajectories for autonomous vehicles for in-lane driving scenarios. The method computes a trajectory using a two-phase optimization procedure. In the first phase, the optimization…
Pursuing a drifting target in a turbulent flow is an extremely difficult task whenever the searcher has limited propulsion and maneuvering capabilities. Even in the case when the relative distance between pursuer and target stays below the…
A learning based method for obtaining feedback laws for nonlinear optimal control problems is proposed. The learning problem is posed such that the open loop value function is its optimal solution. This infinite dimensional, function space,…
We propose a novel unsupervised learning framework for solving nonlinear optimal control problems (OCPs) with input constraints in real-time. In this framework, a neural network (NN) learns to predict the optimal co-state trajectory that…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
Recently, there has been an increasing interest in automated prompt optimization based on reinforcement learning (RL). This approach offers important advantages, such as generating interpretable prompts and being compatible with black-box…
This paper presents state estimation and stochastic optimal control gathered in one global optimization problem generating dual effect i.e. the control can improve the future estimation. As the optimal policy is impossible to compute, a…
A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted…
This paper presents a general description of a parameter estimation inverse problem for systems governed by nonlinear differential equations. The inverse problem is presented using optimal control tools with state constraints, where the…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…
The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…
The design of guidance law can be considered a kind of finite-time error-tracking problem. A unified free-time convergent guidance law design approach based on the error dynamics and the free-time convergence method is proposed in this…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
A nonlinear detector derived within a maximum likelihood estimation framework is shown to be effective in retrieving the channel coefficients and data of users on the uplink channel of a noncooperative wireless system without the access…
Optimal control theory in epidemiology has been used to establish the most effective intervention strategies for managing and mitigating the spread of infectious diseases while considering constraints and costs. Using Pontryagin's Maximum…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
This paper presents a numerical algorithm for computing 6-degree-of-freedom free-final-time powered descent guidance trajectories. The trajectory generation problem is formulated using a unit dual quaternion representation of the rigid body…
When a team of agents, such as unmanned aerial/underwater vehicles, are operating in $3$-dimensional space, their coordinated action in pursuit of a cooperative task generally requires all agents to either share a common coordinate system…