Results 1 - 10 of 3,029

Iterative MILP methods for vehicle-control problems

by Matthew G. Earl, Senior Member - IEEE Transactions on Robotics
"... Abstract—Mixed-integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this paper, we present iterative MILP algorithms that addr ..."
Abstract - Cited by 20 (0 self) - Add to MetaCart
Abstract—Mixed-integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this paper, we present iterative MILP algorithms

SUBMITTED TO THE IEEE TRANSACTIONS ON ROBOTICS 1 Iterative MILP Methods for Vehicle Control Problems

by Matthew G. Earl
"... Abstract Mixed integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this paper, we present iterative MILP algorithms that add ..."
Abstract - Add to MetaCart
Abstract Mixed integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this paper, we present iterative MILP algorithms

Information flow and cooperative control of vehicle formations.

by J Alexander Fax , Richard M Murray - In Proceeings of 15th IFAC Conference, , 2002
"... Abstract We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We apply tools from graph theory to relate the topology of the communication network to formation stability. We prove a Nyquist crite ..."
Abstract - Cited by 551 (11 self) - Add to MetaCart
Abstract We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We apply tools from graph theory to relate the topology of the communication network to formation stability. We prove a Nyquist

Consensus and cooperation in networked multi-agent systems

by Reza Olfati-Saber , J Alex Fax , Richard M Murray , Reza Olfati-Saber , J Alex Fax , Richard M Murray - Proceedings of the IEEE , 2007
"... Summary. This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees. An ove ..."
Abstract - Cited by 807 (4 self) - Add to MetaCart
. An overview of basic concepts of information consensus in networks and methods of convergence and performance analysis for the algorithms are provided. Our analysis framework is based on tools from matrix theory, algebraic graph theory, and control theory. We discuss the connections between consensus problems

On kinetic waves: II) A theory of traffic Flow on long crowded roads

by M. J. Lighthill, G. B. Whitham - Proc. Royal Society A229 , 1955
"... This paper uses the method of kinematic waves, developed in part I, but may be read independently. A functional relationship between flow and concentration for traffic on crowded arterial roads has been postulated for some time, and has experimental backing (? 2). From this a theory of the propagati ..."
Abstract - Cited by 496 (2 self) - Add to MetaCart
concludes (? 6) with a discussion of its relevance to problems of flow near junctions, including a discussion of the starting flow at a controlled junction. In the introductory sections 1 and 2, we have included some elementary material on the quantitative study of traffic flow for the benefit of scientific

SUBMITTED TO THE IEEE TRANSACTIONS ON ROBOTICS 1 A Decomposition Approach to Multi-vehicle Cooperative Control

by Matthew G. Earl
"... Abstract We present methods to synthesize cooperative strategies for multi-vehicle control problems using a decompo-sition approach. We motivate the methods using an adversarial game between two teams of vehicles called RoboFlag. Introducing a set of tasks to be completed by the team and a task com ..."
Abstract - Add to MetaCart
Abstract We present methods to synthesize cooperative strategies for multi-vehicle control problems using a decompo-sition approach. We motivate the methods using an adversarial game between two teams of vehicles called RoboFlag. Introducing a set of tasks to be completed by the team and a task

BInformation patterns and hedging brockett’s theorem in controlling vehicle formations

by J Baillieul , A Suri - in Proc. IEEE Conf. Decision and Control, Maui, HI
"... Abstract Efforts to apply computer vision and various optical and acoustic proximity sensors for distributed/ coordinated motion control of a small group of autonomous vehicles has led us to consider a number natural feedback control laws which utilize realtime measurements of relative distances be ..."
Abstract - Cited by 51 (5 self) - Add to MetaCart
between the vehicles. Unfortunately, none of the feedback laws satisfies Brockett's necessary conditions for asymptotic stabilization. They do appear to provide a basis for practical solutions to a number of interesting vehicle control problems, however. Part of the rationale for proposing feedback

On Size and Control: The Use of Dimensional Analysis in . . .

by Sean N. Brennan, Sean N. Brennan , 2002
"... The central tenet of this thesis is that the tools of dimensional analysis offer significant benefits to control-problem formulation and controller design. This argument is developed using the task of vehicle lateral positioning control at highway speeds as a motivating example. The vehicle control ..."
Abstract - Cited by 1 (0 self) - Add to MetaCart
The central tenet of this thesis is that the tools of dimensional analysis offer significant benefits to control-problem formulation and controller design. This argument is developed using the task of vehicle lateral positioning control at highway speeds as a motivating example. The vehicle control

Complementary Condensing for the Direct Multiple Shooting Method

by Christian Kirches, Hans Georg Bock, Johannes P. Schlöder, Sebastian Sager
"... Summary. In this contribution we address the efficient solution of optimal control problems of dynamic processes with many controls. Such problems typically arise from the convexification of integer control decisions. We treat this problem class using the direct multiple shooting method to discretiz ..."
Abstract - Cited by 1 (1 self) - Add to MetaCart
. We demonstrate the merit of this approach for a vehicle control problem in which the integer gear decision is convexified. 1

Frequency-Weighted Coordinated Front and Torque Vehicle Steering

by Sean Brennan, Andrew Alleyne , 2001
"... A controller was developed to govern the lateral position of a highway-speed vehicle using frequencyweighted coordination of front steering and torque inputs. The MISO design problem was recast as a SISO approach by using a cascaded design technique: the first step determined the relative contributi ..."
Abstract - Add to MetaCart
A controller was developed to govern the lateral position of a highway-speed vehicle using frequencyweighted coordination of front steering and torque inputs. The MISO design problem was recast as a SISO approach by using a cascaded design technique: the first step determined the relative
Results 1 - 10 of 3,029