相关论文: Minimum-Time Planar Paths with up to Two Constant …

Reachability questions are one of the most fundamental algorithmic primitives in temporal graphs -- graphs whose edge set changes over discrete time steps. A core problem here is the NP-hard Short Restless Temporal Path: given a temporal…

Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…

We consider an asynchronous system with transitions corresponding to the instructions of a computer system. For each instruction, a runtime is given. We propose a mathematical model, allowing us to construct an algorithm for finding the…

In this paper, we present two control laws that are tailored for control applications in which computational and/or communication resources are scarce. Namely, we consider minimum attention control, where the `attention' that a control task…

The paper is concerned with a kind of minimal time control problem for the heat equation with impulse controls. The purpose of such a problem is to find an optimal impulse control (among certain control constraint set) steering the solution…

This paper considers an optimal impulse control problem of dynamical systems generated by a flow. The performance criteria are total costs over the infinite time horizon. Apart from the main performance to be minimized, there are multiple…

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…

Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…

Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…

The trajectory optimization of the atmospheric entry of a reusable launch vehicle is studied. The objective is to maximize the crossrange of the vehicle subject to two control-inequality path constraints, two state-inequality path…

We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths…

The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…

In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…

Single Source Shortest Paths ($\textrm{SSSP}$) is among the most well-studied problems in computer science. In the incremental (resp. decremental) setting, the goal is to maintain distances from a fixed source in a graph undergoing edge…

We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…

This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…

We present a safe-by-design approach to path planning and control for nonlinear systems. The planner uses a low fidelity model of the plant to compute reference trajectories by solving an MPC problem, while the plant being controlled…

In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any arbitrarily assigned initial condition.…

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 establish a linear programming formulation for the solution of joint chance constrained optimal control problems over finite time horizons. The joint chance constraint may represent an invariance, reachability or reach-avoid…