相关论文: A detailed analysis of the brachistochrone problem

Nowadays, huge efforts are made to modernize the air traffic management systems to cope with uncertainty, complexity and sub-optimality. An answer is to enhance the information sharing between the stakeholders. This paper introduces a…

The article presents a study on the biobjective inventory routing problem. Contrary to most previous research, the problem is treated as a true multi-objective optimization problem, with the goal of identifying Pareto-optimal solutions. Due…

Motions of a material point along a set of parabolas are studied, taking into account the forces of Coulomb friction. The obtained results are compared with similar motions along the cycloid. The analysis is carried out using numerical…

The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…

This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…

We present a novel particle filtering framework for continuous-time dynamical systems with continuous-time measurements. Our approach is based on the duality between estimation and optimal control, which allows reformulating the estimation…

This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…

A novel efficient downstairs trajectory is proposed for a 9 link biped robot model with toe-foot. Brachistochrone is the fastest descent trajectory for a particle moving only under the influence of gravity. In most situations, while…

We consider optimal design of infinite-dimensional Bayesian linear inverse problems governed by partial differential equations that contain secondary reducible model uncertainties, in addition to the uncertainty in the inversion parameters.…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

In this paper the preliminary design of multiple gravity-assist trajectories is formulated as a global optimization problem. An analysis of the structure of the solution space reveals a strong multimodality, which is strictly dependent on…

We adapt ideas and concepts developed in optimal transport (and its martingale variant) to give a geometric description of optimal stopping times of Brownian motion subject to the constraint that the distribution of the stopping time is a…

We provide a solution to the problem of optimal transport by Brownian martingales in general dimensions whenever the transport cost satisfies certain subharmonic properties in the target variable, as well as a stochastic version of the…

A common problem in physics and engineering is determination of the orientation of an object given its angular velocity. When the direction of the angular velocity changes in time, this is a nontrivial problem involving coupled differential…

In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization…

Moment optimization techniques have been recently proposed to solve globally various classes of optimal control problems. As those methods return truncated moment sequences of occupation measures, this paper explores a numeric method for…

A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…

Optimization under uncertainty deals with the problem of optimizing stochastic cost functions given some partial information on their inputs. These problems are extremely difficult to solve and yet pervade all areas of technological and…

The objective function used in trajectory optimization is often non-convex and can have an infinite set of local optima. In such cases, there are diverse solutions to perform a given task. Although there are a few methods to find multiple…

The problem of motion for different test particles, charged and spinning objects of constant spinning tensor in different versions of bimetric theory of gravity is obtained by deriving their corresponding path and path deviation equations,…