相关论文: Optimization-based Control for Bearing-only Target…

Target tracking problem has many practical applications in real life. In submarines, target tracking is done using, preferably, passive sensors. These sensors measure only the bearing angles between the observed target and the ownship.…

Characterized by a cross-disciplinary nature, the bearing-based target localization task involves estimating the position of an entity of interest by a group of agents capable of collecting noisy bearing measurements. In this work, this…

The aim of this work is to design controllers through explicit minimization of the settling time of a closed-loop response, by using a class of methods adequate for this objective. To the best of our knowledge, all the methods available in…

In this study, we propose an algorithmic framework for solving a class of optimal control problems. This class is associated with the minimum-time interception of moving target problems, where a plant with a given state equation must…

This paper presents the problem of lateral interception by a Dubins car of a target that moves along an a priori known trajectory. This trajectory is given by two coordinates of a planar location and one angle of a heading orientation,…

This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…

Trajectory and control secrecy is an important issue in robotics security. This paper proposes a novel algorithm for the control input inference of a mobile agent without knowing its control objective. Specifically, the algorithm first…

This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…

We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a…

Motivated by perception-based control problems in autonomous systems, this paper addresses the problem of developing feedback controllers to regulate the inputs and the states of a dynamical system to optimal solutions of an optimization…

In this paper, we address the problem of circumnavigation of a stationary target by a heterogeneous group comprising of $\textbf{n}$ autonomous agents, having unicycle kinematics. The agents are assumed to have constant linear speeds, we…

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…

This article proposes an improved trajectory optimization approach for stochastic optimal control of dynamical systems affected by measurement noise by combining optimal control with maximum likelihood techniques to improve the reduction of…

In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the…

Controller tuning is crucial for closed-loop performance but often involves manual adjustments. Although Bayesian optimization (BO) has been established as a data-efficient method for automated tuning, applying it to large and…

A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…

This paper develops a method to learn optimal controls from data for bilinear systems without a priori knowledge of the system dynamics. Given an unknown bilinear system, we first characterize when the available data is suitable to solve…

Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for…

In the automation of many kinds of processes, the observable outcome can often be described as the combined effect of an entire sequence of actions, or controls, applied throughout its execution. In these cases, strategies to optimise…

We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile agents to minimize an uncertainty metric in a given mission space. For a single agent in a one-dimensional…