相关论文: The Weighted Markov-Dubins Problem

This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…

This paper studies the trajectory optimization problem in a scenario where a single rotary-wing UAV acts as a relay of data payloads for downlink transmission requests generated randomly by two ground nodes (GNs) in a wireless network. The…

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…

Solving combinatorial optimization problems of the kind that can be codified by quadratic unconstrained binary optimization (QUBO) is a promising application of quantum computation. Some problems of this class suitable for practical…

We study the minimum time control problem of the launchers. The optimal trajectories of the problem may contain singular arcs, and thus chattering arcs. The motion of the launcher is described by its attitude kinematics and dynamics and…

We study a nonlinear multimarginal optimal transport problem arising in risk management, where the objective is to maximize a spectral risk measure of the pushforward of a coupling by a cost function. Although this problem is inherently…

An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…

We propose a method to obtain the optimal weight function of 9 paths in (3+1)D space-time whose length is less than or equal to $2\times (6+2)$ lattice units. The factor 2 comes from inclusion of opposite direction path or time reversed…

Two-stage methods addressing continuous shortest path problems start local minimization from discrete shortest paths in a spatial graph. The convergence of such hybrid methods to global minimizers hinges on the discretization error induced…

This paper proposes a physics-inspired solution for low altitude Unmanned Aircraft System (UAS) Traffic Management (UTM) in urban areas. We decompose UTM into spatial and temporal planning problems. For the spatial planning problem, we use…

The recent drastic increase in mobile data traffic has pushed the mobile edge computing systems to the limit of their capacity. A promising solution to this problem is the task migration provided by unmanned aerial vehicles (UAV). Key…

We propose a simple, geometrically-motivated construction of smooth random paths in the plane. The construction is such that, with probability one, the paths have finite curvature everywhere (and the realizations are visually pleasing when…

Recently, Model Predictive Contouring Control (MPCC) has arisen as the state-of-the-art approach for model-based agile flight. MPCC benefits from great flexibility in trading-off between progress maximization and path following at runtime…

In this paper we study the bicausal optimal transport problem for Markov chains, an optimal transport formulation suitable for stochastic processes which takes into consideration the accumulation of information as time evolves. Our analysis…

Powered descent guidance (PDG) problems subject to six-degrees-of-freedom (6DOF) dynamics allow for enforcement of practical attitude constraints. However, numerical solutions to 6DOF PDG problems are challenging due to fast rotational…

In this study, we formulate the drone delivery problem as a control problem and solve it using Model Predictive Control. Two experiments are performed: The first is on a less challenging grid world environment with lower dimensionality, and…

This paper addresses the Dynamic UGV-UAV Cooperative Path Planning (DUCPP) problem involving one unmanned ground vehicle (UGV) assisted by one or more unmanned aerial vehicles (UAVs) operating on an uncertain road network with potentially…

We consider the problem of joint routing and scheduling in queueing networks, where the edge transmission costs are unknown. At each time-slot, the network controller receives noisy observations of transmission costs only for those edges it…

In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrated into the Deep…

This paper tackles the multi-objective optimization of the cost functional of a path-following model predictive control for vehicle longitudinal and lateral control. While the inherent optimal character of the model predictive control and…