Optimal control of sweeping processes in robotics and traffic flow models

DOI10.1007/S10957-019-01521-YMaRDI QIDQ2317837zbMATH OpenOpenAlexFDO

Authors Giovanni Colombo, Boris S. Mordukhovich, Dao Nguyen

Publication date 13 August 2019

Published in Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1811.01844

zbMATH Keywords

discrete approximationsnecessary optimality conditionsoptimal controlroboticssweeping processtraffic flowsvariational analysis

Mathematics Subject Classification ID

Set-valued and variational analysis (49J53) Optimality conditions for problems involving relations other than differential equations (49K21) Discrete approximations in optimal control (49M25) Kinematics of mechanisms and robots (70B15) Deterministic network models in operations research (90B10)

Abstract: The paper is mostly devoted to applications of a novel optimal control theory for perturbed sweeping/Moreau processes to two practical dynamical models. The first model addresses mobile robot dynamics with obstacles, and the second one concerns control and optimization of traffic flows. Describing these models as controlled sweeping processes with pointwise/hard control and state constraints and applying new necessary optimality conditions for such systems allow us to develop efficient procedures to solve naturally formulated optimal control problems for the models under consideration and completely calculate optimal solutions in particular situations.

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Cites work

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Cited in

(21)

• Optimization of fully controlled sweeping processes
• Optimal control of history-dependent evolution inclusions with applications to frictional contact
• A nonsmooth maximum principle for a controlled nonconvex sweeping process
• Optimization and discrete approximation of sweeping processes with controlled moving sets and perturbations
• On the optimal control of rate-independent soft crawlers
• A survey on regularity conditions for state-constrained optimal control problems and the non-degenerate maximum principle
• Optimal control of differential inclusions. II: Sweeping
• Applications of optimal control of a nonconvex sweeping process to optimization of the planar crowd motion model
• Discrete approximations and optimal control of nonsmooth perturbed sweeping processes
• Finite-Time Stability of Polyhedral Sweeping Processes with Application to Elastoplastic Systems
• Optimization of a perturbed sweeping process by constrained discontinuous controls
• Dynamical systems coupled with monotone set-valued operators: formalisms, applications, well-posedness, and stability
• Discrete approximations and optimality conditions for controlled free-time sweeping processes
• Multilevel control by duality
• Optimal control of perturbed sweeping processes with applications to general robotics models
• Optimal control for coupled sweeping processes under minimal assumptions
• Variational analysis of controlled sweeping processes
• Optimal control of several motion models
• Constrained nonlinear estimation and links with stochastic filtering
• Optimal control of a random sweeping process with probabilistic terminal point constraint
• Optimal control of sweeping processes in unmanned surface vehicle and nanoparticle modelling

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