相关论文: Enhancements to the DIDO Optimal Control Toolbox

Motivated by energy management for micro-grids, we study convex optimization problems with uncertainty in the objective function and sequential decision making. To solve these problems, we propose a new framework called ``Online…

Motion planning for autonomous driving (AD) faces a critical trade-off. While traditional rule-based pipelines offer verifiable safety and interpretability, they often fail to generalize in complex scenarios. Conversely, emerging…

We introduce the MATLAB-based software QuITO (Quasi-Interpolation based Trajectory Optimization) to numerically solve a wide class of constrained nonlinear optimal control problems (OCP). The solver is based on the QuITO (the same…

We study a time minimization problem on the group of motions of a plane with admissible control in a half-disk. The considered control system describes a model of a car that can move forward on a plane and turn in place. Optimal…

We introduce the Pontryagin-Guided Direct Policy Optimization (PG-DPO) framework for high-dimensional continuous-time portfolio choice. Our approach combines Pontryagin's Maximum Principle (PMP) with backpropagation through time (BPTT) to…

This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…

The Intelligent Driver Model (IDM), proposed in 2000, has become a foundational tool in traffic flow modeling, renowned for its simplicity, computational efficiency, and ability to capture diverse traffic dynamics. Over the past 25 years,…

Physics-informed neural networks (PINNs) have made significant strides in modeling dynamical systems governed by partial differential equations (PDEs). However, their generalization capabilities across varying scenarios remain limited. To…

PYROBOCOP is a Python-based package for control, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the package can handle systems with contacts that are described…

We present an adaptation of direct collocation -- a trajectory optimization method commonly used in robotics and aerospace applications -- to quantum optimal control (QOC); we refer to this method as Pade Integrator COllocation (PICO). This…

This paper presents a computationally efficient algorithm for eco-driving over long prediction horizons. The eco-driving problem is formulated as a bi-level program, where the bottom level is solved offline, pre-optimizing gear as a…

Surround-view depth estimation is a crucial task aims to acquire the depth maps of the surrounding views. It has many applications in real world scenarios such as autonomous driving, AR/VR and 3D reconstruction, etc. However, given that…

Differentiable planning enables gradient-based optimization of decision-making problems by leveraging differentiable models of system dynamics. However, in highly nonlinear and hybrid discrete-continuous domains, the resulting optimization…

Path-planning for autonomous vehicles in threat-laden environments is a fundamental challenge. While traditional optimal control methods can find ideal paths, the computational time is often too slow for real-time decision-making. To solve…

We consider optimal experimental design (OED) problems in selecting the most informative observation sensors to estimate model parameters in a Bayesian framework. Such problems are computationally prohibitive when the…

Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…

Space mission design places a premium on cost and operational efficiency. The search for new science and life beyond Earth calls for spacecraft that can deliver scientific payloads to geologically rich yet hazardous landing sites. At the…

We introduce a new algorithm to solve constrained nonlinear optimal control problem, with an emphasis on low-thrust trajectory in highly nonlinear dynamics. The algorithm, dubbed Pontryagin-Bellman Differential Dynamic Programming (PDDP),…

Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…

SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring fast replanning. Existing soft-constraint…