相关论文: Safe and Near-Optimal Gate Control: A Case Study f…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…
The Northern European Enclosure Dam (NEED) is a hypothetical project to prevent flooding in European countries following the rising ocean level due to melting arctic glaciers. This project involves the construction of two large dams between…
The Princess Marijke lock complex is a large lock and water-protection installation in the Netherlands between the river Rhine and the Amsterdam-Rijnkanaal -- a large waterway connecting the Rhine to the port of Amsterdam. The lock complex…
We combine non-hydrostatic flow simulations of the free surface with a discharge model based on elementary gate flow equations for decision support in operation of hydraulic structure gates. A water level-based gate control used in most of…
Tidal Range Structures (TRS) have been considered for large-scale electricity generation for their potential ability to produce reasonably predictable energy without the emission of greenhouse gases. Once the main forcing components for…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
Adaptive test-time compute for LLM agents aims to invoke extra computation only when it improves performance. Existing methods typically use confidence-, uncertainty-, or difficulty-based gates, assuming a fixed direction from the gating…
In under-balanced drilling, the bottom-hole pressure is kept below pore pressure, causing pressure dependent influx of reservoir gas into the wellbore that makes the system unstable at low drawdowns. In this paper we propose a feedback…
Deep reinforcement learning (DRL), acting as a novel and powerful paradigm for quantum optimal control, offers transformative opportunities for advancing neutral-atom quantum computing. In this work, we theoretically demonstrate a DRL-based…
We address the problem of simultaneously learning and control in an online receding horizon control setting. We consider the control of an unknown linear dynamical system with general cost functions and affine constraints on the control…
This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called gatekeeper, recursively guarantees the existence of an infinite-horizon…
Machine learning provides a data-driven approach for creating a digital twin of a system - a digital model used to predict the system behavior. Having an accurate digital twin can drive many applications, such as controlling autonomous…
Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert…
Additional automation being build into ships implies a shift of crew from ship to shore. However, automated ships still have to be monitored and, in some situations, controlled remotely. These tasks are carried out by human operators…
We consider the nonlinear optimal control of bypass transition in a boundary layer flow subjected to a pair of free stream vortical perturbations using a receding horizon approach. The optimal control problem is solved using the Lagrange…
We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics. The algorithm establishes novel connections between data-driven and robust, nonlinear control.…
A variational data assimilation technique was used to estimate optimal discretization of interpolation operators and derivatives in the nodes adjacent to the rigid boundary. Assimilation of artificially generated observational data in the…
Fully or partial autonomous marine vessels are actively being developed by many industry actors. In many cases, the autonomous vessels will be operating close to shore, and within range of a Remote Control Center (RCC). Close to shore…
Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…
In the shipping digitalisation process, the peak will be reached with the advent of a wholly autonomous and at the same time safe and reliable ship. Full autonomy could be obtained by two linked Artificial-Intelligence systems representing…