Related papers: Optimal Control of Microswimmers for Trajectory Tr…
We propose a general framework for studying optimal impulse control problem in the presence of uncertainty on the parameters. Given a prior on the distribution of the unknown parameters, we explain how it should evolve according to the…
Controller tuning is crucial for closed-loop performance but often involves manual adjustments. Although Bayesian optimization (BO) has been established as a data-efficient method for automated tuning, applying it to large and…
Parameter tuning in real-world experiments is constrained by the limited evaluation budget available on hardware. The path-following controller studied in this paper reflects a typical situation in nonlinear geometric controller, where…
We present a method for optimal control of systems governed by partial differential equations (PDEs) with uncertain parameter fields. We consider an objective function that involves the mean and variance of the control objective, leading to…
We develop a mathematical model for sailboat navigation that can play the same role that the Black and Scholes model plays in mathematical finance: it captures essential features of sailboat navigation, it can provide insights that might…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
This paper presents a novel framework for goal-oriented optimal static sensor placement and dynamic sensor steering in PDE-constrained inverse problems, utilizing a Bayesian approach accelerated by low-rank approximations. The framework is…
Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environments. In this paper, we propose a robust and safe trajectory…
We address a general optimal switching problem over finite horizon for a stochastic system described by a differential equation driven by Brownian motion. The main novelty is the fact that we allow for infinitely many modes (or regimes,…
We investigate the self-locomotion of an elongated microswimmer by virtue of the unidirectional tangential surface treadmilling. We show that the propulsion could be almost frictionless, as the microswimmer is propelled forward with the…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…
We consider trajectory optimal control problems in which parameter uncertainty limits the applicability of control trajectories computed prior to travel. Hence, efficient trajectory adjustment is needed to ensure successful travel. However,…
We consider a setting in which one swarm of agents is to service or track a second swarm, and formulate an optimal control problem which trades off between the competing objectives of servicing and motion costs. We consider the continuum…
This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains,…
This paper discusses modelling, controllability and gait design for a spherical flexible swimmer. We first present a kinematic model of a low Reynolds number spherical flexible swimming mechanism with periodic surface deformations in the…
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic…
Developing behavioral policies designed to efficiently solve target-search problems is a crucial issue both in nature and in the nanotechnology of the 21st century. Here, we characterize the target-search strategies of simple microswimmers…
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…
Many real-world problems require to optimise trajectories under constraints. Classical approaches are based on optimal control methods but require an exact knowledge of the underlying dynamics, which could be challenging or even out of…