Exact and Approximate Relaxation Techniques for Computational Guidance

The focus of this dissertation is in the development and application of relaxation techniques that enable efficient and real-time solution of complex computational guidance problems. Relaxations transform a non-convex constraint into a convex constraint and provides proof that the optimal solutions to the relaxed problem are optimal for the original problem. Unique contributions of this work include: 1) a relaxation technique for solving fixed final time problems between fixed points, 2) a performance analysis on the application of computational guidance for the Mars Ascent Vehicle, and 3) establishment of sufficient conditions for non-singularity of optimal control for problems on a smooth manifold with mixed constraints. The first result states that for annularly constrained linear systems, controllability is a sufficient condition for the problem to be solvable as a sequence of convex programs. The second result applies relaxations to an ascent problem. The third result is the most general result to date for problems with mixed constraints. It uses a minimum principle on manifolds with mixed constraints to analyze the problem in a geometric framework, and shows that strong observability of the dual system is sufficient for non-singularity

Decentralized Convergence to Nash Equilibria in Constrained Deterministic Mean Field Control

This paper considers decentralized control and optimization methodologies for large populations of systems, consisting of several agents with different individual behaviors, constraints and interests, and affected by the aggregate behavior of the overall population. For such large-scale systems, the theory of aggregative and mean field games has been established and successfully applied in various scientific disciplines. While the existing literature addresses the case of unconstrained agents, we formulate deterministic mean field control problems in the presence of heterogeneous convex constraints for the individual agents, for instance arising from agents with linear dynamics subject to convex state and control constraints. We propose several model-free feedback iterations to compute in a decentralized fashion a mean field Nash equilibrium in the limit of infinite population size. We apply our methods to the constrained linear quadratic deterministic mean field control problem and to the constrained mean field charging control problem for large populations of plug-in electric vehicles.Comment: IEEE Trans. on Automatic Control (cond. accepted

Resource allocation for transmit hybrid beamforming in decoupled millimeter wave multiuser-MIMO downlink

This paper presents a study on joint radio resource allocation and hybrid precoding in multicarrier massive multiple-input multiple-output communications for 5G cellular networks. In this paper, we present the resource allocation algorithm to maximize the proportional fairness (PF) spectral efficiency under the per subchannel power and the beamforming rank constraints. Two heuristic algorithms are designed. The proportional fairness hybrid beamforming algorithm provides the transmit precoder with a proportional fair spectral efficiency among users for the desired number of radio-frequency (RF) chains. Then, we transform the number of RF chains or rank constrained optimization problem into convex semidefinite programming (SDP) problem, which can be solved by standard techniques. Inspired by the formulated convex SDP problem, a low-complexity, two-step, PF-relaxed optimization algorithm has been provided for the formulated convex optimization problem. Simulation results show that the proposed suboptimal solution to the relaxed optimization problem is near-optimal for the signal-to-noise ratio SNR <= 10 dB and has a performance gap not greater than 2.33 b/s/Hz within the SNR range 0-25 dB. It also outperforms the maximum throughput and PF-based hybrid beamforming schemes for sum spectral efficiency, individual spectral efficiency, and fairness index

Collaborative Planning for Catching and Transporting Objects in Unstructured Environments

Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a trajectory planning method for a non-holonomic robotic team with collaboration in unstructured environments.For the adaptive state collaboration of a robot team to catch and transport targets to be rescued using a net, we model the process of catching the falling target with a net in a continuous and differentiable form.This enables the robot team to fully exploit the kinematic potential, thereby adaptively catching the target in an appropriate state.Furthermore, the size safety and topological safety of the net, resulting from the collaborative support of the robots, are guaranteed through geometric constraints.We integrate our algorithm on a car-like robot team and test it in simulations and real-world experiments to validate our performance.Our method is compared to state-of-the-art multi-vehicle trajectory planning methods, demonstrating significant performance in efficiency and trajectory quality