相关论文: Pulse-and-Glide Driving with Drivability Constrain…

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…

We investigate the time-optimal solution of the selective control of two uncoupled spin 1/2 particles. Using the Pontryagin Maximum Principle, we derive the global time-optimal pulses for two spins with different offsets. We show that the…

We address Newton-type problems of minimal resistance from an optimal control perspective. It is proven that for Newton-type problems the Pontryagin maximum principle is a necessary and sufficient condition. Solutions are then computed for…

The phase transitions for many-body systems have been understood using field theories. A few canonical physical model classes encapsulate the underlying physical properties of a large number of systems. The finite-time driving of such…

Turbulence accounts for most of the energy losses associated with the pumping of fluids in pipes. Pulsatile drivings can reduce the drag and energy consumption required to supply a desired mass flux, when compared to steady driving.…

We examine some basic physics surrounding regenerative braking and air drag. First, we analyze under what conditions it becomes energetically favorable to use aggressive regenerative braking to reach a lower speed over ``coasting'' where…

We consider the Lagrange problem of optimal control with unrestricted controls and address the question: under what conditions we can assure optimal controls are bounded? This question is related to the one of Lipschitzian regularity of…

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…

Incorporating speed probability distribution to the computation of the route planning in car navigation systems guarantees more accurate and precise responses. In this paper, we propose a novel approach for dynamically selecting the number…

We study an explicit mirror-descent method for finite-horizon deterministic optimal control problems. The method is motivated by Pontryagin's maximum principle: at each iteration, one solves the state and adjoint equations and updates the…

This paper considers an ergodic version of the bounded velocity follower problem, assuming that the decision maker lacks knowledge of the underlying system parameters and must learn them while simultaneously controlling. We propose…

In addition to the theoretical value of challenging optimal control problmes, recent progress in autonomous vehicles mandates further research in optimal motion planning for wheeled vehicles. Since current numerical optimal control…

Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…

We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…

We consider cost minimizing stopping time solutions to Skorokhod embedding problems, which deal with transporting a source probability measure to a given target measure through a stopped Brownian process. PDEs and a free boundary problem…

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

We consider mixed-integer optimal control problems with combinatorial constraints that couple over time such as minimum dwell times. We analyze a lifting and decomposition approach into a mixed-integer optimal control problem without…

As an example for the optimization of unstable flows, we present an economics-based method for deciding the optimal rates at which vehicles are allowed to enter a highway. It exploits the naturally occuring fluctuations of traffic flow and…

Electrified propulsion is expected to play an important role in the sustainable development of Advanced Air Mobility (AAM). However, the limited energy density of batteries motivates the need to minimize energy consumption during flight.…

In this article we derive a strong version of the Pontryagin Maximum Principle for general nonlinear optimal control problems on time scales in finite dimension. The final time can be fixed or not, and in the case of general boundary…