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IEEE Conference on Decision and control

作者： K. Savla F. Bullo E. Frazzoli Francesco Bullo are with the Center for Control Dynamical Systems and Computation University of California슠Santa Barbara USA Mechanical and Aerospace Engineering Department University of California Los Angeles USA

In this paper we propose some novel planning and routing strategies for Dubins’ vehicle, i.e., for a nonholonomic vehicle moving along paths with bounded curvature, without reversing direction. First, we study a stochastic version of the Traveling Salesperson Problem (TSP): given n targets randomly sampled from a uniform distribution in a rectangle, what is the shortest Dubins'tour through the targets and what is its length? We show that the expected length of such a tour is Ω(n m=2/3 )and we propose a novel algorithm that generates a tour of length O(n m=2/3 log(n) m=1/3 ) with high probability. Second, we study a dynamic version of the TSP (known as "Dynamic Traveling Repairperson Problem" in the Operations Research literature): given a stochastic process that generates targets, is there a policy that allows a Dubins vehicle to stabilize the system, in the sense that the number of unvisited targets does not diverge over time? If such policies exist, what is the minimum expected waiting period between the time a target is generated and the time it is visited? We propose a novel receding-horizon algorithm whose performance is almost within a constant factor from the optimum.

关键词： Stochastic processes Vehicle dynamics Unmanned aerial vehicles Approximation algorithms Polynomials Path planning Operations research Strategic planning Routing Mathematics

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A System for Real-Time Spatio-Temporal 3-D Data Visualization in Underwater Robotic Exploration

A System for Real-Time Spatio-Temporal 3-D Data Visualizatio...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S.C. Martin L.L. Whitcomb R. Arsenault M. Plumlee C. Ware Dynamical Systems and Control Laboratory Department of Mechanical Engineering Johns Hopkins University USA Data Visualization Research Laboratory Center for Coastal and Ocean Mapping University of New Hampshire USA

This paper reports the development of a real-time human-computer interface (HCI) system that enables a human operator to more effectively utilize the large volume of quantitative data (navigation, scientific, and vehicle status) generated in real-time by the sensor suites of underwater ro botic vehicles. The system provides interactive 3-D graphical interfaces that display, under user control, the quantitative spatial and temporal sensor data presently available to pilots and users only as two-dimensional plots and numerical dis plays. The system can presently display real-time bathymetric renderings of the sea-floor based upon vehicle navigation and sonar sensor data; vehicle trajectory data; a variety of scalar valued sensor data; and geo-referenced targets and waypoints. We report the accuracy of the real-time navigation and bathymetric sonar data processing by comparing the real-time sonar bathymetry of our test tank floor to a high-resolution laser scan of the same tank floor. The real-time sonar bathymetry is shown to compare favorably to the laser scan data

关键词： Real time systems Data visualization Sonar navigation Sensor systems Underwater vehicles Robot sensing systems Human computer interaction Two dimensional displays control systems Rendering (computer graphics)

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SOSTOOLS and its control applications

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2005年 312卷 273-292页

作者： Prajna, Stephen Papachristodoulou, Antonis Seiler, Peter Parrilo, Pablo A. Control and Dynamical Systems California Institute of Technology Pasadena CA 91125 United States Mechanical and Industrial Engineering Dept. University of Illinois at Urbana-Champaign Urbana IL 61801 United States Automatic Control Laboratory Swiss Federal Institute of Technology CH-8092 Zürich Switzerland

In this chapter we present SOSTOOLS, a third-party MATLAB toolbox for formulating and solving sum of squares optimization problems. Sum of squares optimization forms a basis for formulating convex relaxations to computationally hard problems such as some that appear in systems and control. Currently, sum of squares programs are solved by casting them as semidefinite programs, which can in turn be solved using interior-point based numerical methods. SOSTOOLS helps this translation in such a way that the underlying computations are abstracted from the user. Here we give a brief description of the toolbox, its features and capabilities (with emphasis on the recently added ones), as well as show how it can be applied to solving problems of interest in systems and control. © Springer-Verlag Berlin Heidelberg 2005.

关键词： MATLAB

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On collective motion in sensor networks: sample problems and distributed algorithms

On collective motion in sensor networks: sample problems and...

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IEEE Conference on Decision and control

作者： A. Ganguli S. Susca S. Martinez F. Bullo J. Cortes Department of Mechanical and Environmental Engineering University of California슠Santa Barbara Santa Barbara CA USA Coordinated Science Laboratory University of Illinois Urbana-Champaign Urbana IL USA Department of Mechanical and Environmental Engineering and with the Center for Control Dynamical Systems and Computation University of California슠Santa Barbara Santa Barbara CA USA Department of Applied Mathematics and Statistics University of California Santa Cruz Santa Cruz CA USA

Adopting a tutorial approach, this paper surveys some control and systems theory problems that have recently gained interest in the context of multi-vehicle and sensor networks. By means of illustrative examples, we discuss some challenges in modeling of robotic networks, motion coordination algorithms, sensing and estimation tasks, and complexity of distributed algorithms.

关键词： Intelligent networks Distributed algorithms Robot kinematics Robot sensing systems Sensor systems Sensor phenomena and characterization Marine animals Target tracking control systems Biosensors

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Transport of Mars-Crossing Asteroids from the Quasi-Hilda Region

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Physical Review Letters 2005年第23期94卷 231102-231102页

作者： Michael Dellnitz Oliver Junge Martin W. Lo Jerrold E. Marsden Kathrin Padberg Robert Preis Shane D. Ross Bianca Thiere Faculty of Computer Science Electrical Engineering and Mathematics University of Paderborn D-33095 Paderborn Germany Navigation and Mission Design Jet Propulsion Laboratory California Institute of Technology M/S 301-140L 4800 Oak Grove Drive Pasadena California 91109 USA Control and Dynamical Systems California Institute of Technology MC 107-81 Pasadena California 91125 USA Department of Aerospace and Mechanical Engineering University of Southern California Los Angeles California 90089 USA

We employ set oriented methods in combination with graph partitioning algorithms to identify key dynamical regions in the Sun-Jupiter-particle three-body system. Transport rates from a region near the 3∶2 Hilda resonance into the realm of orbits crossing Mars’ orbit are computed. In contrast to common numerical approaches, our technique does not depend on single long term simulations of the underlying model. Thus, our statistical results are particularly reliable since they are not affected by a dynamical behavior which is almost nonergodic (i.e., dominated by strongly almost invariant sets).

关键词： .graph orbits partitioning week ending Asteroids Preis Mars-Crossing Quasi-Hilda

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Optimization of shell and tube heat exchanger networks

Optimization of shell and tube heat exchanger networks

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2004 ASME International mechanical engineering Congress and Exposition, IMECE

作者： Fakheri, Ahmad Fazel, Maryam Department of Mechanical Engineering Bradley University Peoria IL United States Control and Dynamical Systems Department California Institute of Technology Pasadena CA United States

A methodology is presented for the optimization of a network of shell and tube heat exchangers connected in series. For a given total rate of heat transfer and the known inlet and exit temperatures of the hot and cold fluids, the total area of the heat exchanger network is minimized. In the proposed methodology, the heat exchangers are assumed to be different. This is a generalization compared to the traditional approach where all the heat exchangers are taken to have the same area and the same LMTD (Log Mean Temperature Difference) correction factor. In the traditional approach the minimum number of identical shells, for which a feasible solution exists and meets the design criteria, is used as the optimum solution. The proposed optimization approach shows that using larger number of smaller heat exchangers results in less overall heat exchanger area due to the more efficient operation of the individual heat exchangers. Copyright © 2004 by ASME.

关键词： Heat exchangers

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SOSTOOLS: control applications and new developments

SOSTOOLS: Control applications and new developments

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2004 IEEE International Symposium on Computer Aided control System Design

The developments and control applications of SOSTOOLS, a free third-party MATLAB toolbox for formulating and solving sum of squares programs was discussed. The technique was based on the sum of squares decomposition for multivariate polynomials which can be effectively computed using semidefinite programming. The nonlinear stability analysis, parametric robustness analysis, safety verification, and nonlinear controller synthesis was also considered in the control applications. A sparsity structure was used while considering infinitely constrained linear matrix inequalities (LMI).

关键词： control theory

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Nonlinear control synthesis by sum of squares optimization: a Lyapunov-based approach

Nonlinear control synthesis by sum of squares optimization: ...

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Asian control Conference

作者： S. Prajna A. Papachristodoulou Fen Wu Control and Dynamical Systems California Institute of Technology Pasadena CA USA Dept. of Mechanical & Aerospace Engineering North Carolina State University Raleigh NC USA

This paper addresses the state feedback control synthesis problems for nonlinear systems, either without or with guaranteed cost or H/sub /spl infin// performance objectives. By representing the open-loop nonlinear systems in a state dependent linear-like form and considering a special class of Lyapunov functions, sufficient conditions for the solutions to the above problems can be formulated in terms of state dependent linear matrix inequalities. Semidefinite programming relaxations based on the sum of squares decomposition are then used to efficiently solve such inequalities.

关键词： Nonlinear systems Linear matrix inequalities Polynomials control system synthesis State feedback Lyapunov method control systems Riccati equations Nonlinear control systems Stability analysis

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SOSTOOLS: control applications and new developments

SOSTOOLS: control applications and new developments

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： S. Prajna A. Papachristodoulou P. Seiler P.A. Parrilo Control and Dynamical Systems California Institute of Technology Pasadena CA USA Mechanical and Industrial Engineering Department University of Illinois Urbana-Champaign Urbana-Champaign IL USA Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Switzerland

SOSTOOLS is a free, third party MATLAB tool box for solving sum of squares programs. The techniques behind it are based on the sum of squares decomposition for multivariate polynomials. In this paper we describe recent developments and control applications of SOSTOOLS, a free third-party MATLAB toolbox for formulating and solving sum of squares programs

关键词： Polynomials MATLAB Constraint optimization Matrix decomposition Symmetric matrices control system synthesis Matrix converters control systems Electrical equipment industry Computer hacking

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New developments in sum of squares optimization and SOSTOOLS

New developments in sum of squares optimization and SOSTOOLS

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American control Conference (ACC)

作者： S. Prajna A. Papachristodoulou P. Seiler P.A. Parrilo Control and Dynamical Systems Department California Institute of Technology Pasadena CA USA Mechanical and Industrial Engineering Department University of Illinois Urbana-Champaign Urbana-Champaign IL USA Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Switzerland

We describe the latest additions to SOSTOOLS, a freely available MATLAB toolbox for formulating and solving sum of squares programs. Among the many improvements, there are native polynomial objects, structure-exploiting techniques for sparse and structured polynomials, new customized functions, and support for alternative SDP solvers. We sketch some of the theory behind the new improvements, and illustrate the new commands using control-oriented examples.

关键词： Polynomials MATLAB Functional programming Constraint optimization Stability analysis Robust control Robust stability Mathematical model Quantum mechanics Information theory

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