Inverse optimal control is a classical problem of control theory. It was first posed by Kalman in the early sixties. The problem, as addressed in literature, answers to the following two questions: (a) Given system matrices A,B and a gain matrix K, find necessary and sufficient conditions for K to be the optimal of an infinite time LQ problem. (b) Determine all weight matrices Q, R and S which ...

Optimal coordination of multiple sensors is crucial for efficient atmospheric dispersion estimation. The proposed approach adaptively provides optimized trajectories with respect to sensor cooperation and uncertainty reduction of the process estimate. To avoid the timeconsuming solution of a complex optimal control problem, estimation and vehicle control are considered separate problems linked ...

This paper presents an optimal shape trajectory planner for shape-accelerated underactuated balancing systems, which are destabilized by gravitational forces. These systems have unactuated shape variables and fully actuated external variables. They also have the same number of actuated and unactuated degrees of freedom. Their equations of motion result in nonholonomic acceleration/dynamic const...

This article presents a method for determining smooth and time-optimal path constrained trajectories for robotic manipulators and investigates the performance of these trajectories both through simulations and experiments. The desired smoothness of the trajectory is imposed through limits on the torque rates. The third derivative of the path parameter with respect to time, the pseudo-jerk, is t...

We present an algorithm that recovers an unknown cost function from expert-demonstrated trajectories in continuous space. We assume that the cost function is a weighted linear combination of features, and we are able to learn weights that result in a cost function under which the expert demonstrated trajectories are optimal. Unlike previous approaches [1], [2], our algorithm does not require re...

urban expansion and agriculture intensification are relevant drivers in land degradation (ld)processes in europe due to net loss of land, soil sealing, landscape fragmentation and other negative effects on the environment. this paper explores changes (or “trajectories” of change) in land use and cover (lulc) and their relationship with the consumption of soils in emilia-romagna (northern italy)...