相关论文: Optimal Control Strategies for Active Particle Nav…

A simulated annealing based algorithm is presented for the determination of optimal ship routes through the minimization of a cost function. This cost function is a weighted sum of the time of voyage and the voyage comfort (safety is taken…

In this paper, we propose a novel approach for controlling surface water waves and their interaction with floating bodies. We consider a floating target rigid body surrounded by a control region where we design three control strategies of…

Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids…

This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…

We study a generalized version of Zermelo's navigation problem where the set of admissible velocities is a general compact convex set, replacing the classical Euclidean ball. After establishing existence results under the natural assumption…

Filtering in spatially-extended dynamical systems is a challenging problem with significant practical applications such as numerical weather prediction. Particle filters allow asymptotically consistent inference but require infeasibly large…

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 propose a information theoretical framework to capture transition and information costs of network navigation models. Based on the minimum description length principle and the Markov decision process, we demonstrate that efficient global…

This paper addresses novel applications to practical modeling of the newly developed theory of necessary optimality conditions in controlled sweeping/Moreau processes with free time and pointwise control and state constraints. Problems of…

In this work we present a novel methodology to deal with the optimal performance of raceways (open-channel ponds where the circulating wastewater, during its purification process, is used to grow algae that will be used as a source for the…

Many potential applications of reinforcement learning (RL) are stymied by the large numbers of samples required to learn an effective policy. This is especially true when applying RL to real-world control tasks, e.g. in the sciences or…

Most traffic flow control algorithms address switching cycle adaptation of traffic signals and lights. This work addresses traffic flow optimisation by self-organising micro-level control combining Reinforcement Learning and rule-based…

We develop an adversarial-reinforcement learning scheme for microswimmers in statistically homogeneous and isotropic turbulent fluid flows, in both two (2D) and three dimensions (3D). We show that this scheme allows microswimmers to find…

This paper is based on a crucial issue in the aviation world: how to optimize the trajectory and controls given to the aircraft in order to optimize flight time and fuel consumption. This study aims to provide elements of a response to this…

Navigating efficiently across vortical flow fields presents a significant challenge in various robotic applications. The dynamic and unsteady nature of vortical flows often disturbs the control of underwater robots, complicating their…

This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement…

We demonstrate with experiments and simulations how microscopic self-propelled particles navigate through environments presenting complex spatial features, which mimic the conditions inside cells, living organisms and future lab-on-a-chip…

Particle filtering is a popular method for inferring latent states in stochastic dynamical systems, whose theoretical properties have been well studied in machine learning and statistics communities. In many control problems, e.g.,…

This work is concerned with the necessary conditions of optimality for a minimal time control problem $(P)$ for the linearized Navier-Stokes periodic flow in a 2D-channel, subject to a boundary input which acts on the transversal component…

The ability of microswimmers to deploy optimal propulsion strategies is of paramount importance for their locomotory performance and survival at low Reynolds numbers. Although for perfectly spherical swimmers minimum dissipation requires a…