- document
-
Ferranti, L. (author), Lyons, L. (author), Negenborn, R.R. (author), Keviczky, T. (author), Alonso-Mora, J. (author)This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its modified version to mitigate the effects of packet losses and delays in the communication among the robots. Our algorithms consider that each robot is equipped with an...journal article 2023
- document
-
Zhao, J. (author), Knoop, V.L. (author), Wang, M. (author)Microscopic traffic flow models enable predictions of traffic operations, which allows traffic engineers to assess the efficiency and safety effects of roadway designs. Modeling vehicle trajectories inside intersections is challenging because there is an infinite number of possible paths in a two-dimensional space, and drivers can...journal article 2023
- document
-
Jain, V. (author), Kumar, Sandeep Suresh (author), Papaioannou, G. (author), Happee, R. (author), Shyrokau, B. (author)In the transition from partial to high automation, occupants will no longer be actively involved in driving. This will allow the use of travel time for work or leisure, where high comfort levels preventing motion sickness are required. In this paper, an optimal trajectory planning algorithm is presented in order to minimise motion sickness in...journal article 2023
- document
-
Russ, M.F. (author), Philips, S.G.J. (author), Xue, X. (author), Vandersypen, L.M.K. (author)Semiconductor spin qubits demonstrated single-qubit gates with fidelities up to 99.9 % benchmarked in the single-qubit subspace. However, tomographic characterizations reveal non-negligible crosstalk errors in a larger space. Additionally, it was long thought that the two-qubit gate performance is limited by charge noise, which couples to the...journal article 2023
- document
-
Evans, Michael (author), Tindemans, Simon H. (author), Angeli, David (author)This paper proposes a framework for the procurement of flexibility reserve from aggregated storage fleets. It allows for arbitrary tree structures of aggregation hierarchy, as well as easily implementable disaggregation via broadcast dispatch. By coupling discharge and recovery modes, the proposed framework enables full-cycle capacity to be...journal article 2022
- document
-
Sun, Junzi (author)Trajectory optimization has been an active area of research for air transport studies for several decades. But almost all flight optimizers proposed in the literature remain close-sourced, which presents a major disadvantage for the advancement of scientific research. This optimization depends on aircraft performance models, emission models, and...journal article 2022
- document
-
Westenberger, Jelle (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Time-optimal model predictive control is important for achieving fast racing drones but is computationally intensive and thereby rarely used onboard small quadcopters with limited computational resources. In this work, we simplify the optimal control problem (OCP) of the position loop for several maneuvers by exploiting the fact that the...journal article 2022
- document
-
Liu, M. (author), Zhao, J. (author), Hoogendoorn, S.P. (author), Wang, M. (author)An integrated approach for optimising traffic signals and cooperative vehicle trajectories at urban intersections is proposed. The upper layer determines the optimal signals using enumeration and the lower layer optimises trajectories under each feasible signal plan. In the lower layer, platoon accelerations are optimised considering comfort...journal article 2021
- document
-
Lago, Jesus (author), Suryanarayana, Gowri (author), Sogancioglu, Ecem (author), De Schutter, B.H.K. (author)Seasonal thermal energy storage systems (STESSs) can shift the delivery of renewable energy sources and mitigate their uncertainty problems. However, to maximize the operational profit of STESSs and ensure their long-term profitability, control strategies that allow them to trade on wholesale electricity markets are required. While control...journal article 2021
- document
-
Gravell, Benjamin (author), Mohajerin Esfahani, P. (author), Summers, Tyler H. (author)The linear quadratic regulator (LQR) problem has reemerged as an important theoretical benchmark for reinforcement learning-based control of complex dynamical systems with continuous state and action spaces. In contrast with nearly all recent work in this area, we consider multiplicative noise models, which are increasingly relevant because...journal article 2021
- document
-
Lührs, Benjamin (author), Linke, F. (author), Matthes, Sigrun (author), Grewe, V. (author), Yin, F. (author), Shine, K.P. (author)Air traffic contributes to anthropogenic global warming by about 5% due to CO2 emissions (about 1/3) and non-CO2 effects (about 2/3) primarily caused by emissions of NOx and water vapour as well as the formation of contrails. Since aviation is expected to maintain its trend to grow over the next decades, mitigation measures are required...abstract 2020
- document
-
Evans, Michael (author), Tindemans, Simon H. (author), Angeli, David (author)We consider the problem of dispatching a fleet of heterogeneous energy storage units to provide grid support. Under the restriction that recharging is not possible during the time frame of interest, we develop an aggregate measure of fleet flexibility with an intuitive graphical interpretation. This analytical expression summarises the full set...journal article 2020
- document
-
Evans, Michael (author), Angeli, David (author), Strbac, Goran (author), Tindemans, Simon H. (author)We present a method to find the maximum magnitude of any supply-shortfall service that an aggregator of energy storage devices is able to sell to a grid operator. This is first demonstrated in deterministic settings, then applied to scenarios in which device availabilities are stochastic. In this case we implement chance constraints on the...conference paper 2019
- document
-
Alibekov, Eduard (author), Kubalík, Jiří (author), Babuska, R. (author)Approximate Reinforcement Learning (RL) is a method to solve sequential decisionmaking and dynamic control problems in an optimal way. This paper addresses RL for continuous state spaces which derive the control policy by using an approximate value function (V-function). The standard approach to derive a policy through the V-function is...journal article 2019
- document
-
Evans, Michael P. (author), Tindemans, Simon H. (author), Angeli, David (author)This paper considers the optimal dispatch of energy-constrained heterogeneous storage units to maximize security of supply. A policy, requiring no knowledge of the future, is presented and shown to minimize unserved energy during supply-shortfall events, regardless of the supply and demand profiles. It is accompanied by a graphical means to...journal article 2019
- document
-
Kudruss, Manuel (author), Koryakovskiy, I. (author), Vallery, H. (author), Mombaur, Katja (author), Kirches, Christian (author)Today’s humanoid robots are complex mechanical systems with many degrees of freedom that are built to achieve locomotion skills comparable to humans. In order to synthesize whole-body motions, real-tme capable direct methods of optimal control are a subject of contemporary research. To this end, Nonlinear Model Predictive Control is the method...report 2018
- document
-
de Groot, T.H. (author), Krasnov, O.A. (author), Yarovoy, Alexander (author)Modern sensors, such as multifunctional radars, comprise many settings and the number of controllable settings is increasing due to technological advance. Although having many settings allows many capabilities, it simultaneously requires an automatic manager to control them. This paper proposes mission-driven resource management to control...journal article 2018
- document
-
A string-based representation and crossover operator for evolutionary design of dynamical mechanismsKuppens, P.R. (author), Wolfslag, W.J. (author)Robots would perform better when their mechanical structure is specifically designed for their designated task, for instance by adding spring mechanisms. However, designing such mechanisms, which match the dynamics of the robot with the task, is hard and time consuming. To assist designers, a platform that automatically designs dynamical...journal article 2018
- document
-
De Jong, Jenny (author), Fokkink, R.J. (author), Olsder, G.J. (author), Schwab, A.L. (author)In a cycling time trial, the rider needs to distribute his power output optimally to minimize the time between start and finish. Mathematically, this is an optimal control problem. Even for a straight and flat course, its solution is non-trivial and<br/>involves a singular control, which corresponds to a power that is slightly above the aerobic...journal article 2017
- document
-
Ghosh, D. (author), Baldi, S. (author)Several classes of multi-model adaptive control schemes have been proposed in literature: instead of one single parameter-varying controller, in this adaptive methodology multiple fixed-parameter controllers for different operating regimes (i.e. different models) are utilised. Despite advances in multi-model adaptive control theory, the question...journal article 2017