相关论文: Advancing Strategic Planning and Dynamic Control o…

Future warfare will require Command and Control (C2) personnel to make decisions at shrinking timescales in complex and potentially ill-defined situations. Given the need for robust decision-making processes and decision-support tools,…

This study presents a synchronisation-oriented perspective towards adaptive control which views model-referenced adaptation as synchronisation between actual and virtual dynamic systems. In the context of adaptation, model reference…

Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies…

This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…

In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…

During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…

In model-predictive control (MPC), achieving the best closed-loop performance under a given computational resource is the underlying design consideration. This paper analyzes the MPC design problem with control performance and required…

This research considers the ranking and selection with input uncertainty. The objective is to maximize the posterior probability of correctly selecting the best alternative under a fixed simulation budget, where each alternative is measured…

This article proposes a fundamental methodological shift in the modelling of policy interventions for sustainability transitions in order to account for complexity (e.g. self-reinforcing mechanism arising from multi-agent interactions) and…

Intelligent vehicles (IVs) have gained worldwide attention due to their increased convenience, safety advantages, and potential commercial value. Despite predictions of commercial deployment by 2025, implementation remains limited to…

Autonomous driving at intersections is one of the most complicated and accident-prone traffic scenarios, especially with mixed traffic participants such as vehicles, bicycles and pedestrians. The driving policy should make safe decisions to…

Control theory of dynamical systems offers a powerful framework for tackling challenges in deep neural networks and other machine learning architectures. We show that concepts such as simultaneous and ensemble controllability offer new…

We consider multi-agent systems with heterogeneous, nonlinear agents subject to individual constraints that want to achieve a periodic, dynamic cooperative control goal which can be characterised by a set and a suitable cost. We propose a…

Qualitative opacity of a secret is a security property, which means that a system trajectory satisfying the secret is observation-equivalent to a trajectory violating the secret. In this paper, we study how to synthesize a control policy…

Multi-vehicle trajectory planning is a non-convex problem that becomes increasingly difficult in dense environments due to the rapid growth of collision constraints. Efficient exploration of feasible behaviors and resolution of tight…

This paper explores cooperative trajectory planning approaches within the context of human-machine shared control. In shared control research, it is typically assumed that the human and the automation use the same reference trajectory to…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

With the development of autonomous driving, it is becoming increasingly common for autonomous vehicles (AVs) and human-driven vehicles (HVs) to travel on the same roads. Existing single-vehicle planning algorithms on board struggle to…

Control theoretical techniques have been successfully adopted as methods for self-adaptive systems design to provide formal guarantees about the effectiveness and robustness of adaptation mechanisms. However, the computational effort to…

This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a…