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

Turnpike properties have been established long time ago in finite-dimensional optimal control problems arising in econometry. They refer to the fact that, under quite general assumptions, the optimal solutions of a given optimal control…

Controlling the shapes of surfaces provides a novel way to direct self-assembly of colloidal particles on those surfaces and may be useful for material design. This motivates the investigation of an optimal control problem for surface shape…

Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…

Optimal control of the singular nonlinear parabolic PDE which is a distributional formulation of multidimensional and multiphase Stefan-type free boundary problem is analyzed. Approximating sequence of finite-dimensional optimal control…

We demonstrate that challenging shortest path problems can be solved via direct spline regression from a neural network, trained in an unsupervised manner (i.e. without requiring ground truth optimal paths for training). To achieve this, we…

In train routing, the headway is the minimum distance that must be maintained between successive trains for safety and robustness. We introduce a model for train routing that requires a fixed headway to be maintained between trains, and…

We introduce the Lyapunov approach to optimal control problems of average risk-sensitive Markov control processes with general risk maps. Motivated by applications in particular to behavioral economics, we consider possibly non-convex risk…

This paper presents a new method for solving a class of nonlinear optimal control problems with a quadratic performance index. In this method, first the original optimal control problem is transformed into a nonlinear two-point boundary…

Given a road network modelled as a planar straight-line graph $G=(V,E)$ with $|V|=n$, let $(u,v)\in V\times V$, the shortest path (distance) between $u,v$ is denoted as $\delta_G(u,v)$. Let $\delta(G)=\max_{(u,v)}\delta_G(u,v)$, for…

In optimal control problems, there exist different kinds of extremals, that is, curves candidates to be solution: abnormal, normal and strictly abnormal. The key point for this classification is how those extremals depend on the cost…

This thesis investigates optimal trajectory tracking of nonlinear dynamical systems with affine controls. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. The concept of…

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…

In this article we consider the Directed Steiner Path Cover problem on directed co-graphs. Given a directed graph G=(V,E) and a subset T of V of so-called terminal vertices, the problem is to find a minimum number of vertex-disjoint simple…

Designing sparse directed spanners, which are subgraphs that approximately maintain distance constraints, has attracted sustained interest in TCS, especially due to their wide applicability, as well as the difficulty to obtain tight…

We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become active, the optimal trajectory consists of…

We survey existing techniques to bound the mixing time of Markov chains. The mixing time is related to a geometric parameter called conductance which is a measure of edge-expansion. Bounds on conductance are typically obtained by a…

This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and…

The shortest Disjoint Path problem (SDPP) requires us to find pairwise vertex disjoint paths between k designated pairs of terminal vertices such that the sum of the path lengths is minimum. The focus here is on SDPP restricted to planar…

As we move to increasingly complex cyber-physical systems (CPS), new approaches are needed to plan efficient state trajectories in real-time. In this paper, we propose an approach to significantly reduce the complexity of solving optimal…

Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…