This work makes two contributions to geometric motion planning for multiple robots: 1) motion plans are computed that simultaneously optimize an independent performance measure for each robot; 2) a general spectrum is defined between decoupled and centralized planning, in which we introduce coordination along independent roadmaps. By considering independent performance measures, we introduce a ...

We consider a portfolio optimization problem which is formulated as a stochastic control problem. Risky asset prices obey a logarithmic Brownian motion, and interest rates vary according to an ergodic Markov diffusion process. The goal is to choose optimal investment and consumption policies to maximize the infinite horizon expected discounted HARA utility of consumption. A dynamic programming ...

Sequential decision problems can often be modeled as Markov decision processes. Classical solution approaches assume that the parameters of the model are known. However, model parameters are usually estimated and uncertain in practice. As a result, managers are often interested in how estimation errors affect the optimal solution. In this paper we illustrate how sensitivity analysis can be perf...

This paper deals with the development of a computer model for flood routing in narrow rivers. Equations describing the propagation of a flood wave in a channel-flood plain system are presented and solved using an implicit finite difference scheme. Particular emphasis has been given to the treatment of the friction term in the governing equation of motion.

We study a problem of optimal consumption and portfolio selection in a market where the logreturns of the uncertain assets are not necessarily normally distributed. The natural models then involve pure-jump L evy processes as driving noise instead of Brownian motion like in the Black and Scholes model. The state constrained optimization problem involves the notion of local substitution and is o...

The architecture optimization of a newly designed flexure XY parallel micro-manipulator with both input and output decoupling is conducted in this paper. In view of the compliance of flexure hinges, the input stiffness model of the motion stage are established based upon the matrix method, and then the dynamic equation is derived through the Lagrangian approach, which is verified by the modal a...

langevin equation for a nano-particle suspended in a laminar fluid flow was analytically studied. the brownian motion generated from molecular bombardment was taken as a wiener stochastic process and approximated by a gaussian white noise. euler-maruyama method was used to solve the langevin equation numerically. the accuracy of brownian simulation was checked by performing a series of simulati...

We consider that the reserve of an insurance company follows a Cramér-Lundberg process. The management has the possibility of investing part of the reserve in a risky asset. We consider that the risky asset is a stock whose price process is a geometric Brownian motion. Our aim is to find a dynamic choice of the investment policy which minimizes the ruin probability of the company. We impose tha...

A portfolio optimization problem on an infinite time horizon is considered. Risky asset price obeys a logarithmic Brownian motion, and the interest rate varies according to an ergodic Markov diffusion process. Moreover, the interest rate fluctuation is correlated with the risky asset price fluctuation. The goal is to choose optimal investment and consumption policies to maximize the infinite ho...