相关论文: Optimal Control of Sweeping Processes in Robotics …

In this work, we consider the two dimensional tidal dynamics equations in a bounded domain and address some optimal control problems like total energy minimization, minimization of dissipation of energy of the flow, etc. We also examine an…

This paper is mainly devoted to the study of controlled sweeping processes with polyhedral moving sets in Hilbert spaces. Based on a detailed analysis of truncated Hausdorff distances between moving polyhedra, we derive new existence and…

Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…

This paper considers the problem of designing time-dependent, real-time control policies for controllable nonlinear diffusion processes, with the goal of obtaining maximally-informative observations about parameters of interest. More…

We study optimal control of diffusions with slow and fast variables and address a question raised by practitioners: is it possible to first eliminate the fast variables before solving the optimal control problem and then use the optimal…

We propose a distributed algorithm for controlling traffic signals, allowing constraints such as periodic switching sequences of phases and minimum and maximum green time to be incorporated. Our algorithm is adapted from backpressure…

This paper deals with the optimal control of systems governed by nonlinear systems of conservation laws at junctions. The applications considered range from gas compressors in pipelines to open channels management. The existence of an…

In this paper, we consider the stochastic optimal control problem for the interacting particle system. We obtain the stochastic maximum principle of the optimal control system by introducing a generalized backward stochastic differential…

Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micromanipulation. This paper addresses the challenge of…

In this letter we propose an optimization-based boundary controller for traffic flow dynamics capable of achieving both stability and invariance conditions. The approach is based on the definition of Boundary Control Barrier Functionals,…

We consider optimal control problems for systems governed by mean-field stochastic differential equations, where the control enters both the drift and the diffusion coefficient. We study the relaxed model, in which admissible controls are…

An optimal control problem for the continuity equation is considered. The aim of a "controller" is to maximize the total mass within a target set at a given time moment. The existence of optimal controls is established. For a particular…

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

In this paper we introduce the optimal control of a kinetic model describing agents who migrate on a graph and interact within its nodes exchanging a physical quantity. As a prototype model, we consider the spread of an infectious disease…

This paper provides necessary conditions of optimality for optimal control problems with time delays in both state and control variables. Different versions of the necessary conditions cover fixed end-time problems and, under additional…

This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

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…

In this work, we study the control constrained distributed optimal control of a stationary doubly diffusive flow model. For the control problem, we use a well-posedness analysis based on minimal assumptions on data and domain. We show the…