相关论文: Optimal tracking strategies in a turbulent flow

In this paper we study strongly robust optimal control problems under volatility uncertainty. In the $G$-framework we adapt the stochastic maximum principle to find necessary and sufficient conditions for the existence of a strongly robust…

We experimentally and numerically study the dependence of different navigation strategies regarding the effectivity of an active particle to reach a predefined target area. As the only control parameter, we vary the particle's propulsion…

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…

What is the fastest way of finding a randomly hidden target? This question of general relevance is of vital importance for foraging animals. Experimental observations reveal that the search behaviour of foragers is generally intermittent:…

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…

Control of chaotic systems to given targets is a subject of substantial and well-developed research issue in nonlinear science, which can be formulated as a class of multi-modal constrained numerical optimization problem with…

Many real-world systems often involve physical components or operating environments with highly nonlinear and uncertain dynamics. A number of different control algorithms can be used to design optimal controllers for such systems, assuming…

Aerial operation in turbulent environments is a challenging problem due to the chaotic behavior of the flow. This problem is made even more complex when a team of aerial robots is trying to achieve coordinated motion in turbulent wind…

The optimization of low-thrust, multi-revolution orbit transfer trajectories is often regarded as a difficult problem in modern astrodynamics. In this paper, a flexible and computationally efficient approach is presented for the…

We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…

The classical setting of optimal control theory assumes full knowledge of the process dynamics and the costs associated with every control strategy. The problem becomes much harder if the controller only knows a finite set of possible…

Finding an optimum strategy to reach a certain destination by swimming in a background flow is an interesting question which leads to non-trivial results and swimming paths. Here we consider different strategies for various types of surface…

This paper investigates a partial-information pursuit evasion game in which the Pursuer has a limited-range sensor to detect the Evader. Given a fixed final time, we derive the optimal evasion strategy for the Evader to maximize its…

This article contributes to a framework for a computational indirect method based on the Pontryagin maximum principle to efficiently solve a class of state constrained time-optimal control problems in the presence of a time-dependent flow…

We describe adaptive control algorithms whereby a chaotic dynamical system can be steered to a target state with desired characteristics. A specific implementation considered has the objective of directing the system to a state which is…

We study the efficiency of search processes based on Levy flights (LFs) with power-law distributed jump lengths in the presence of an external drift. While LFs turn out to be efficient search processes when relative to the starting point…

Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…

Controllable Markov chains describe the dynamics of sequential decision making tasks and are the central component in optimal control and reinforcement learning. In this work, we give the general form of an optimal policy for learning…

The controller of an input-affine system is determined through minimizing a time-varying objective function, where stabilization is ensured via a Lyapunov function decay condition as constraint. This constraint is incorporated into the…

Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…