Abstract: Point-to-point path planning in an obstacle-free environment, for a kinematic model of a differential-drive wheeled mobile robot with the goal of minimizing input energy is the focus of this work. An optimal control problem ...

Abstract: This paper explores design of finite impulse response (FIR) filters for controlling underdamped systems while dealing with uncertainties in model parameters. By setting magnitude constraints in the frequency domain within ...

Abstract: The timeoptimal output transition control problem for stable or marginally stable systems with minimumphase zeros is discussed in this paper. A double integrator system with a real lefthalf plane zero is used to illustrate ...

Abstract: An adjoint sensitivity-based approach to determine the gradient and Hessian of cost functions for system identification of dynamical systems is presented. The motivation is the development of a computationally efficient ...

Abstract: The focus of this paper is on the global sensitivity analysis (GSA) of linear systems with time-invariant model parameter uncertainties and driven by stochastic inputs. The Sobol' indices of the evolving mean and variance ...

Abstract: This paper addresses the problem of pointtopoint path planning of a 3D model of a quadcopter carrying a suspended load by parameterizing its differentially flat outputs. The flat outputs are the Cartesian coordinates of ...

Abstract: The focus of this paper is on the use of polynomial chaos (PC) for developing surrogate models for differential algebraic equations (DAEs) with time-invariant uncertainties. Intrusive and nonintrusive approaches to synthesize ...

Abstract: Unmanned aerial vehicles (UAVs) are making increasingly long flights today with significantly longer mission times. This requires the UAVs to have long endurance as well as have long range capabilities. Motivated by ...

Abstract: This paper presents a computationally efficient approach to evaluate multidimensional expectation integrals. Specifically, certain nonproduct cubature points are constructed that exploit the symmetric structure of the ...

Abstract: Unmanned aerial vehicles (UAVs) are making increasingly long flights today with significantly longer mission times. This requires the UAVs to have long endurance as well as have long range capabilities. Motivated by ...