相关论文: Markov-Dubins Path via Optimal Control Theory

This paper is concerned with the transition of the laminar flow in a duct of square cross-section. Like in the similar case of the pipe flow, the motion is linearly stable for all Reynolds numbers, rendering this flow a suitable candidate…

Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…

The Minimum Path Cover (MPC) problem consists of finding a minimum-cardinality set of node-disjoint paths that cover all nodes in a given graph. We explore a variant of the MPC problem on acyclic digraphs (DAGs) where, given a subset of…

We study a class of controlled rough differential equations. It is shown that the value function satisfies a HJB type equation; we also establish a form of the Pontryagin maximum principle. Deterministic problems of this type arise in the…

We apply the theory of optimal control to the dynamics of two "gmon" qubits, with the goal of preparing a desired entangled ground state from an initial unentangled one. Given an initial state, a target state, and a Hamiltonian with a set…

We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…

The paper is concerned with elongating the shortest curvature-bounded path between two oriented points to an expected length. The elongation of curvature-bounded paths to an expected length is fundamentally important to plan missions for…

The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…

Homotopy methods are attractive due to their capability of solving difficult optimisation and optimal control problems. The underlying idea is to construct a homotopy, which may be considered as a continuous (zero) curve between the…

Among various rare events, the effective computation of transition paths connecting metastable states in a stochastic model is an important problem. This paper proposes a stochastic optimal control formulation for transition path problems…

We study self-approaching paths that are contained in a simple polygon. A self-approaching path is a directed curve connecting two points such that the Euclidean distance between a point moving along the path and any future position does…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

The paper proposes a new stochastic intervention control model conducted in various commodity and stock markets. The essence of the phenomenon of intervention is described in accordance with current economic theory. A review of papers on…

We experimentally and theoretically study the thermodynamically optimal control of interacting multiple-particle systems, focusing on collections of colloidal particles individually confined in optical traps. We investigate protocols that…

The shortest bibranching problem is a common generalization of the minimum-weight edge cover problem in bipartite graphs and the minimum-weight arborescence problem in directed graphs. For the shortest bibranching problem, an efficient…

We present some new results on sample path optimality for the ergodic control problem of a class of non-degenerate diffusions controlled through the drift. The hypothesis most often used in the literature to ensure the existence of an a.s.…

When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…

A model reduction technique based on an optimization principle is employed to coarse-grain inviscid, incompressible fluid dynamics in two dimensions. In this reduction the spectrally-truncated vorticity equation defines the microdynamics,…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

The turnpike phenomenon stipulates that the solution of an optimal control problem in large time, remains essentially close to a steady-state of the dynamics, itself being the optimal solution of an associated static optimal control…