Related papers: Flight Path Optimization with Optimal Control Meth…
We propose a sampling-based trajectory optimization methodology for constrained problems. We extend recent works on stochastic search to deal with box control constraints,as well as nonlinear state constraints for discrete dynamical…
In this paper, we introduce a hierarchical decision-making framework for emerging mobility systems. Despite numerous studies focusing on optimizing vehicle flow, practical feasibility has often been overlooked. To address this gap, we…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
This paper is concerned with the minimum-time path-planning problem for a Dubins airplane under the influence of steady wind. The path-planning problem, by transforming into the air-relative frame, is equivalent to finding the minimum-time…
In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the…
Optical techniques have been employed to coherently control the quantum transport through nanojunctions. Conventional works on optical control of quantum transport usually applied a tailored electrical pulses to perform specific tasks. In…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
The paper is devoted to a free-time optimal control problem for sweeping processes. We develop a constructive finite-difference approximation procedure that allows us to establish necessary optimality conditions for discrete optimal…
We solve the minimum-thrust optimal trajectory generation problem for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft using convex optimisation. The method is based on a change of differential operator that allows…
Two-stage methods addressing continuous shortest path problems start local minimization from discrete shortest paths in a spatial graph. The convergence of such hybrid methods to global minimizers hinges on the discretization error induced…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
To overcome the limitations of current parafoil precision landing capabilities, an efficient real-time convex optimized guidance and control strategy is presented. Successive convexification of the parafoil guidance problem guarantees local…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
In this article, we are interested in optimal aircraft trajectories in climbing phase. We consider the cost index criterion which is a convex combination of the time-to-climb and the fuel consumption. We assume that the thrust is constant…
Optimal Control (OC) is the process of determining control and state trajectories for a dynamic system, over a period of time, in order to optimize a given performance index. With the increasing of variables and complexity, OC problems can…
Spacecraft trajectory design is a global search problem, where previous work has revealed specific solution structures that can be captured with data-driven methods. This paper explores two global search problems in the circular restricted…
In this paper, we consider coordinated control of feeder vehicles for first and last mode transportation. The model is macroscopic with volumes of demands and supplies along with flows of vehicles. We propose a one-shot problem for…
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…
The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and the energy consumption while providing speed-dependent…
In this paper we present a dynamic programing approach to stochastic optimal control problems with dynamic, time-consistent risk constraints. Constrained stochastic optimal control problems, which naturally arise when one has to consider…