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math.OC2022
An explicit dual control approach for constrained reference tracking of uncertain linear systems
Anilkumar Parsi, Andrea Iannelli, Roy S. Smith
A finite horizon optimal tracking problem is considered for linear dynamical systems subject to parametric uncertainties in the state-space matrices and exogenous disturbances. A s…
math.OC2021
Decentralized trajectory optimization for multi-agent exploration
Dimitris Gkouletsos, Andrea Iannelli, Mathias Hudoba de Badyn +1
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of…