A methodology is provided to tackle the path-following integrated guidance and control problem for unmanned air vehicles with measured outputs available at different rates. The path-following problem is addressed by defining a suitable non-linear path dependent error space to express the vehicle’s nonlinear dynamics. The main novelty of the method is to explicitly take into account the differen...

Given an undirected graph G = (V;E) with positive edge weights (lengths) w : E ! < + , a set of terminals (sinks) N V , and a unique root node r 2 N , a shortest-path Steiner arborescence (simply called an arborescence in the following) is a Steiner tree rooted at r spanning all terminals in N such that every sourceto-sink path is a shortest path in G. Given a triple (G;N; r), the MinimumShorte...

We study geometric properties of the solution variety for the problem of approximating solutions of systems of polynomial equations. We prove that given two pairs (fi, ζi), i = 1, 2, there exists a short path joining them such that the complexity of following the path is bounded by the logarithm of the condition number of the problems.

We will in this paper address the problem of offline path planning for Unmanned Aerial Vehicles (UAVs). Our goal is to find paths that meet mission objectives, are safe with respect to collision and grounding, fuel efficient and satisfy criteria for communication. Due to the many nonconvex constraints of the problem, Mixed Integer Linear Programming (MILP) will be used in finding the path. Appr...

This paper addresses the path-following problem of steering an autonomous air vehicle along a predefined 3-D path, while tracking a desired velocity profile. The presented solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which exhibits a high degree of directional accuracy. The proposed methodology adopts a polytopic Linear Parameter...

we consider biobjective shortest path problems in networks with fuzzy arc lengths. considering the available studies for single objective shortest path problems in fuzzy networks, using a distance function for comparison of fuzzy numbers, we propose three approaches for solving the biobjective prob- lems. the rst and second approaches are extensions of the labeling method to solve the sing...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

A primal-dual interior point method for optimal control problems is considered. The algorithm is directly applied to the infinite-dimensional problem. Existence and convergence of the central path are analyzed, and linear convergence of a short-step path-following method is established.