The problem of optimally transferring a linear dynamical system between affine varieties arises in a number of applications such as path planning and robot coordination. In this paper, this problem, as well as generalizations ...

This paper considers optimal control of dynamical systems which are represented by nonlinear stochastic differential equations. It is well-known that the optimal control policy for this problem can be obtained as a function ...

In this paper, we study hybrid models that not only undergo mode transitions, but also experience changes in dimensions of the state and input spaces. An algorithmic framework for the optimal control of such Multi-Mode, ...

The navigation of a small unmanned aerial vehicle is challenging due to a large influence of wind to its kinematics. When the kinematic model is reduced to two dimensions, it has the form of the Dubins kinematic vehicle ...

n this paper, we present a factor graph framework to solve both estimation and deterministic optimal control problems, and apply it to an obstacle avoidance task on Unmanned Aerial Vehicles (UAVs). We show that factor ...

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 describes a vision-based control architecture designed to enable autonomous landing on a moving platform. The landing trajectory is generated by using the receding-horizon differential dynamic programming (DDP), ...

A network of locally interacting agents can be thought of as performing a distributed computation. But not all computations can be faithfully distributed. This paper investigates which global, linear transformations can ...

As control systems are becoming more and more complex, system complexity is rapidly becoming a limiting factor in the efficacy of established techniques for control systems design. To cope with the growing complexity, ...

The objective of this dissertation is to incorporate the concept of optimality to multi-modal control and apply the theoretical results to obtain successful navigation strategies for autonomous mobile robots. The main idea ...