6,291 research outputs found

    Positive Semidefiniteness and Positive Definiteness of a Linear Parametric Interval Matrix

    Full text link
    We consider a symmetric matrix, the entries of which depend linearly on some parameters. The domains of the parameters are compact real intervals. We investigate the problem of checking whether for each (or some) setting of the parameters, the matrix is positive definite (or positive semidefinite). We state a characterization in the form of equivalent conditions, and also propose some computationally cheap sufficient\,/\,necessary conditions. Our results extend the classical results on positive (semi-)definiteness of interval matrices. They may be useful for checking convexity or non-convexity in global optimization methods based on branch and bound framework and using interval techniques

    Optimal guidance law development for an advanced launch system

    Get PDF
    A regular perturbation analysis is presented. Closed-loop simulations were performed with a first order correction including all of the atmospheric terms. In addition, a method was developed for independently checking the accuracy of the analysis and the rather extensive programming required to implement the complete first order correction with all of the aerodynamic effects included. This amounted to developing an equivalent Hamiltonian computed from the first order analysis. A second order correction was also completed for the neglected spherical Earth and back-pressure effects. Finally, an analysis was begun on a method for dealing with control inequality constraints. The results on including higher order corrections do show some improvement for this application; however, it is not known at this stage if significant improvement will result when the aerodynamic forces are included. The weak formulation for solving optimal problems was extended in order to account for state inequality constraints. The formulation was tested on three example problems and numerical results were compared to the exact solutions. Development of a general purpose computational environment for the solution of a large class of optimal control problems is under way. An example, along with the necessary input and the output, is given

    Strong Duality for a Multiple-Good Monopolist

    Full text link
    We characterize optimal mechanisms for the multiple-good monopoly problem and provide a framework to find them. We show that a mechanism is optimal if and only if a measure μ\mu derived from the buyer's type distribution satisfies certain stochastic dominance conditions. This measure expresses the marginal change in the seller's revenue under marginal changes in the rent paid to subsets of buyer types. As a corollary, we characterize the optimality of grand-bundling mechanisms, strengthening several results in the literature, where only sufficient optimality conditions have been derived. As an application, we show that the optimal mechanism for nn independent uniform items each supported on [c,c+1][c,c+1] is a grand-bundling mechanism, as long as cc is sufficiently large, extending Pavlov's result for 22 items [Pavlov'11]. At the same time, our characterization also implies that, for all cc and for all sufficiently large nn, the optimal mechanism for nn independent uniform items supported on [c,c+1][c,c+1] is not a grand bundling mechanism

    Optimal Sampling-Based Motion Planning under Differential Constraints: the Driftless Case

    Full text link
    Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the problem is still open in many aspects, including guarantees on the quality of the obtained solution. In this paper we provide a thorough theoretical framework to assess optimality guarantees of sampling-based algorithms for planning under differential constraints. We exploit this framework to design and analyze two novel sampling-based algorithms that are guaranteed to converge, as the number of samples increases, to an optimal solution (namely, the Differential Probabilistic RoadMap algorithm and the Differential Fast Marching Tree algorithm). Our focus is on driftless control-affine dynamical models, which accurately model a large class of robotic systems. In this paper we use the notion of convergence in probability (as opposed to convergence almost surely): the extra mathematical flexibility of this approach yields convergence rate bounds - a first in the field of optimal sampling-based motion planning under differential constraints. Numerical experiments corroborating our theoretical results are presented and discussed
    corecore