Related papers: Time-Constrained Model Predictive Control for Auto…
We consider an optimal control problem constrained by a parabolic partial differential equation (PDE) with Robin boundary conditions. We use a well-posed space-time variational formulation in Lebesgue--Bochner spaces with minimal…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
We prove a general existence result in stochastic optimal control in discrete time where controls take values in conditional metric spaces, and depend on the current state and the information of past decisions through the evolution of a…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
The paper deals with the design of an improved model predictive control scheme for achieving station-keeping in a quasi Halo orbit around the $L_2$ point in the Earth-Moon system. The improvement is obtained thanks to a multi-rate…
With the growing deployment of small satellites (such as CubeSats, Nanosats, Picosats, and Femtosats) in Low Earth Orbit (LEO) for targeted applications like imaging, communication, data storage, and rendezvous-docking mission, there is…
This paper studies the adaptive trajectory design of a rotary-wing UAV serving as a relay between ground nodes dispersed in a circular cell and generating uplink data transmissions randomly according to a Poisson process, and a central base…
A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solves a multi-vehicle optimal control problem (MVOCP) that…
We develop an integrated Multi-Port Concurrent Communication Divisible Load Theory (MPCC-DLT) framework for relay-centric distributed satellite systems (DSS), capturing concurrent data dissemination, parallel computation, and result return…
This paper addresses the computation of Delta-V-optimal, safe, relative orbit reconfigurations for satellite formations in a centralized fashion. The formations under consideration comprise an uncontrolled chief spacecraft flying with an…
In this paper, we consider a hierarchical control problem with model uncertainty. Specifically, we consider the following objectives that we would like to accomplish. The first one being of a controllability-type that consists of…
The paper deals with an optimal control problem in a dynamical system described by a linear differential equation with the Caputo fractional derivative. The goal of control is to minimize a Bolza-type cost functional, which consists of two…
We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…
In this paper, we explore the interplay between Predictive Control and closed-loop optimality, spanning from Model Predictive Control to Data-Driven Predictive Control. Predictive Control in general relies on some form of prediction scheme…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
Autonomous satellite servicing missions must execute close-range rendezvous under stringent safety and operational constraints while remaining computationally tractable for onboard use and robust to uncertainty in sensing, actuation, and…
In this paper, we present a data-driven Model Predictive Controller that leverages a Gaussian Process to generate optimal motion policies for connected autonomous vehicles in regions with uncertainty in the wireless channel. The…
This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…