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math.OC2023
A unifying vision of Particle Filtering and Explicit dual Model Predictive Control
Emilien Flayac, Karim Dahia, Bruno Hérissé +1
This paper presents a joint optimisation framework for optimal estimation and stochastic optimal control with imperfect information. It provides a estimation and control scheme tha…
math.OC2023★ 1 cited
Statistical Linearization for Robust Motion Planning
Clara Leparoux, Riccardo Bonalli, Bruno Hérissé +1
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbanc…
math.OC2022
Structure of optimal control for planetary landing with control and state constraints
Clara Leparoux, Bruno Hérissé, Frédéric Jean
This paper studies a vertical powered descent problem in the context of planetary landing, considering glide-slope and thrust pointing constraints and minimizing any final cost. In…