In this paper, some of the relationships between optimal control and trajectory planning are examined. When planning trajectories for linear control systems, a demand that arises naturally in air traffic control or noise ...

This paper studies the problem of letting an autonomous mobile robot negotiate obstacles in an optimal manner. In particular, a multi-modal control problem is addressed, where different modes of operation control the ...

This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs ...

This paper concerns optimal mode-scheduling in autonomous switched-mode hybrid dynamical systems, where the objective is to minimize a cost-performance functional defined on the state trajectory as a function of the schedule ...

This paper considers the problem of coordinating multiple pendula attached to mobile bases. In particular, the pendula should move in such a way that their motion is synchronized, which calls for two problems to be ...

This paper presents a control theoretic formulation and optimal control solution for integrating human control inputs subject to linear state constraints. The formulation utilizes a receding horizon optimal controller ...

This paper presents a novel way of manipulating the initial conditions in the consensus equation such that a constrained agreement problem is solved across a distributed network of agents, particularly for a network ...

This paper concerns the problem of minimizing the sum of motion energy and communication energy in a network of mobile robots. The robotic network is charged with the task of transmitting sensor information from a given ...

In this paper, we study a specific optimal control problem associated with a multiagent dynamic system. The interest is placed on minimization of the tracking error in the multiagent leader-follower model. We replace this ...

This paper applies a general computational technique for optimal control of switched-mode hybrid systems, recently developed by the authors, to voltage-regulation problems in a step-down DC-DC converter. Unlike existing ...