Related papers: Input Matrix Optimization for Desired Reachable Se…

Many systems exhibit a mixture of continuous and discrete dynamics. We consider a family of mixed-integer non-convex non-linear optimisation problems obtained in discretisations of optimal control of such systems. For this family, a…

We present a novel class of minimax optimal control problems with positive dynamics, linear objective function and homogeneous constraints. The proposed problem class can be analyzed with dynamic programming and an explicit solution to the…

Directional motion towards a specified destination is a common occurrence in physical processes and human societal activities. Utilizing this prior information can significantly improve the control and predictive performance of system…

This paper considers an optimal impulse control problem of dynamical systems generated by a flow. The performance criteria are total costs over the infinite time horizon. Apart from the main performance to be minimized, there are multiple…

To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…

Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…

Reachable set computation is an important technique for the verification of safety properties of dynamical systems. In this paper, we investigate reachable set computation for discrete nonlinear systems based on parallelotope bundles. The…

We address the problem of estimating the inputs of a dynamical system from measurements of the system's outputs. To this end, we introduce a novel estimation algorithm that explicitly trades off bias and variance to optimally reduce the…

The paper presents a novel method for designing an optimal controller for discrete-time switched linear systems. The problem is formulated as one of computing the discrete mode sequence and the continuous input sequence that jointly…

We study fundamental reachability problems on pseudo-orbits of linear dynamical systems. Pseudo-orbits can be viewed as a model of computation with limited precision and pseudo-reachability can be thought of as a robust version of classical…

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…

We consider the problem of approximating the reachable set of a discrete-time polynomial system from a semialgebraic set of initial conditions under general semialgebraic set constraints. Assuming inclusion in a given simple set like a box…

In this paper, we develop a unified framework for studying constrained robust optimal control problems with adjustable uncertainty sets. In contrast to standard constrained robust optimal control problems with known uncertainty sets, we…

We consider the problem of finding optimal time-periodic sensor schedules for estimating the state of discrete-time dynamical systems. We assume that {multiple} sensors have been deployed and that the sensors are subject to resource…

To investigate solutions of (near-)optimal control problems, we extend and exploit a notion of homogeneity recently proposed in the literature for discrete-time systems. Assuming the plant dynamics is homogeneous, we first derive a scaling…

This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…

We investigate optimal reachability and grasping problems for a planar soft manipulator, from both a theoretical and numerical point of view. The underlying control model describes the evolution of the symmetry axis of the device, which is…

The dynamics of a linear dynamical system over a finite field can be described by using the elementary divisors of the corresponding matrix. It is natural to extend the investigation to a general finite commutative ring. In a previous…

We study finite horizon reachable set estimation for unknown discrete-time dynamical systems using only sampled state trajectories. Rather than treating scenario optimization as a black-box tool, we show how it can be tailored to reachable…

In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…