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Optimal Trajectory Planning and Smoothing Splines
(Georgia Institute of Technology, 2001-07)
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 ...
Obstacle Avoidance for Mobile Robots Using Switching Surface Optimization
(Georgia Institute of Technology, 2005-07)
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 ...
Constructing and Implementing Motion Programs for Robotic Marionettes
(Georgia Institute of Technology, 2011-04)
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 ...
Optimal Control of Autonomous Switched-Mode Systems: Gradient-Descent Algorithms with Armijo Step Sizes
(Georgia Institute of Technology, 2015-12)
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 ...
Multi-Pendulum Synchronization Using Constrained Agreement Protocols
(Georgia Institute of Technology, 2009-04)
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 ...
Human-in-the-Loop: Terminal Constraint Receding Horizon Control with Human Inputs
(Georgia Institute of Technology, 2010-05)
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 ...
Constrained Agreement Protocols for Tree Graph Topologies
(Georgia Institute of Technology, 2011-02)
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 ...
Minimizing Mobility and Communication Energy in Robotic Networks: an Optimal Control Approach
(Georgia Institute of Technology, 2014-06)
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 ...
Optimization of Multiagent Systems with Increasing State Dimensions: Hybrid LQ Approach
(Georgia Institute of Technology, 2011-06)
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 ...
Optimal Switching Control of a Step-Down DC-DC Converter
(Georgia Institute of Technology, 2012-06)
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 ...