Related papers: General formulation of an analytic, Lipschitz cont…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
This paper addresses the multivariable gradient-based extremum seeking control (ESC) subject to saturation. Two distinct saturation scenarios are investigated here: saturation acting on the input of the function to be optimized, which is…
In this paper we derive a moment relaxation for large-scale nonsmooth optimization problems with graphical structure and spherical constraints. In contrast to classical moment relaxations for global polynomial optimization that suffer from…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
We propose and analyze a new dynamical system with a closed-loop control law in a Hilbert space $\mathcal{H}$, aiming to shed light on the acceleration phenomenon for \textit{monotone inclusion} problems, which unifies a broad class of…
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
A large-scale complex system comprising many, often spatially distributed, dynamical subsystems with partial autonomy and complex interactions are called system of systems. This paper describes an efficient algorithm for model predictive…
The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics demands control algorithms to handle multiple tasks as well as hard constraints efficiently. This paper…
We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…
In this paper we study iterative algorithms for finding a common element of the set of fixed points of $\kappa$-strict pseudocontractions or finding a solution of a variational inequality problem for a monotone, Lipschitz continuous…
We describe a reformulation (following Hales (2017)) of a 1934 conjecture of Reinhardt on pessimal packings of convex domains in the plane as a problem in optimal control theory. Several structural results of this problem including its…
This paper deals with the gradient-based extremum seeking control for multivariable maps under actuator saturation. By exploiting a polytopic embedding of the unknown Hessian, we derive a LMI-based synthesis condition to ensure that the…
In this note, we propose a probabilistic approach to bound the (dimension-free) Lipschitz constant of the Langevin flow map on $\mathbb{R}^d$ introduced by Kim and Milman (2012). As example of application, we construct Lipschitz maps from a…
This paper presents an end-to-end framework for robust structure/control optimization of an industrial benchmark. When dealing with space structures, a reduction of the spacecraft mass is paramount to minimize the mission cost and maximize…
This work presents a unified framework that combines global approximations with locally built models to handle challenging nonconvex and nonsmooth composite optimization problems, including cases involving extended real-valued functions. We…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
Modern aircraft are designed with redundant control effectors to cater for fault tolerance and maneuverability requirements. This leads to aircraft being over-actuated and requires control allocation schemes to distribute the control…
In its most general form, the optimal transport problem is an infinite-dimensional optimization problem, yet certain notable instances admit closed-form solutions. We identify the common source of this tractability as \textit{symmetry} and…
This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided path integral control method. The path…