Hybrid Optimal Control Approach to Commercial Aircraft Trayectory Planning

This work is partially supported by the Spanish Government through the Ministerio de Ciencia e Innovación, the Comunidad de Madrid, and the project i-Math Ingenio Mathematica. This work has been carried out within the framework of the Atlantida project, partially funded by the Spanish Centro para el Desarrollo Tecnológico e Industrial, in which the Universidad Rey Juan Carlos is collaborating with GVM Aerospace and Defence.Publicad

En-Route Optimal Flight Planning Constrained to Pass Through Waypoints using MINLP

Abstract: In this paper we study the en-route strategic flight planning of a commercial aircraft constrained to pass through a set of waypoints whose sequence is not predefined. This problem has been solved as an hybrid optimal control problem in which, given the dynamic model of the aircraft, the initial and final states, the path constraints constituting the envelope of flight, and a set of waypoints in the European air space, one has to find the control inputs, the switching times, the optimal sequence of waypoints and the corresponding trajectory of the aircraft that minimize the direct operating cost during the flight. The complete layout of waypoints in the European airspace is reduced and waypoints are gathered into a small number of clusters. The aircraft is constrained to pass through one waypoint inside every cluster of waypoints. The presence of multi point constraints makes the optimal control problem particularly difficult to solve. The hybrid optimal control problem is converted into a mixed integer non linear programming problem first making the unknown switching times part of the state, then introducing binary variable to enforce the constraint of passing through one waypoint inside every cluster, and finally applying a direct collocation method. The resulting mixed integer non linear programming problem has been solved using a branch and bound algorithm. The cases studied and the numerical results show the effectiveness, efficiency and applicability of this method for enroute strategic flight plans definition

Framework for Aircraft Trajectory Planning Towards an Efficient Air Traffic Management

This work is partially supported by the Spanish Government through the Ministerio de Ciencia e Innovación, the Comunidad de Madrid, the project i-Math Ingenio Mathematica, and the project Optimización en Computación en Paralelo de Planificación bajo Incertidumbre under grant no. MTM2009-14087-C04-01. This work has been carried out within the framework of the Atlantida project, partially funded by the Spanish Centro para el Desarrollo Tecnológico e Industrial, in which the Universidad Rey Juan Carlos collaborated with GMVAerospace and Defence S.A.Publicad

Embedded Optimal Control of Robot Manipulators with Passive Joints

This paper studies the optimal control problem for planar underactuated robot manipulators with two revolute joints and brakes at the unactuated joints in the presence of gravity. The presence of a brake at an unactuated joint gives rise to two operating modes for that joint: free and braked. As a consequence, there exist two operating modes for a robot manipulator with one unactuated joint and four operating modes for a manipulator with two unactuated joints. Since these systems can change dynamics, they can be regarded as switched dynamical systems. The optimal control problem for these systems is solved using the so-called embedding approach. The main advantages of this technique are that assumptions about the number of switches are not necessary, integer or binary variables do not have to be introduced to model switching decisions between modes, and the optimal switching times between modes are not unknowns of the optimal control problem. As a consequence, the resulting problem is a classical continuous optimal control problem. In this way, a general method for the solution of optimal control problems for switched dynamical systems is obtained. It is shown in this paper that it can deal with nonintegrable differential constraints

Oriented matroids for shape representation and indexing

Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA), Port d'Andratx (Spain)In this paper a novel method for indexing views of 3D objects is presented. The topological properties of the regions of the segmented images of the objects are used to define an index based on oriented matroid theory. Oriented matroids, which are projective invariants, encode incidence relations and relative position of the elements of the image and give local and global topological information about their spatial distribution. This indexing technique is applied to 3D object hypothesis generation from single views to reduce the number of candidates in object recognition processes.Peer Reviewe

Oriented matroids for shape representation and indexing

Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA), Port d'Andratx (Spain)In this paper a novel method for indexing views of 3D objects is presented. The topological properties of the regions of the segmented images of the objects are used to define an index based on oriented matroid theory. Oriented matroids, which are projective invariants, encode incidence relations and relative position of the elements of the image and give local and global topological information about their spatial distribution. This indexing technique is applied to 3D object hypothesis generation from single views to reduce the number of candidates in object recognition processes.Peer Reviewe

Shape representation and indexing based on region connection calculus and oriented matroid theory

International Conference on Discrete Geometry for Computer Imagery (DGCI), 2003, Naples (Italy)In this paper a novel method for indexing views of 3D objects is presented. The topological properties of the regions of the views of a set of objects are used to define an index based on the region connection calculus and oriented matroid theory. Both are formalisms for qualitative spatial representation and reasoning and are complementary in the sense that whereas the region connection calculus encodes information about connectivity of pairs of connected regions of the view, oriented matroids encode relative position of the disjoint regions of the view and give local and global topological information about their spatial distribution. This indexing technique is applied to 3D object hypothesis generation from single views to reduce candidates in object recognition processes.Peer Reviewe

Shape representation and indexing based on region connection calculus and oriented matroid theory

International Conference on Discrete Geometry for Computer Imagery (DGCI), 2003, Naples (Italy)In this paper a novel method for indexing views of 3D objects is presented. The topological properties of the regions of the views of a set of objects are used to define an index based on the region connection calculus and oriented matroid theory. Both are formalisms for qualitative spatial representation and reasoning and are complementary in the sense that whereas the region connection calculus encodes information about connectivity of pairs of connected regions of the view, oriented matroids encode relative position of the disjoint regions of the view and give local and global topological information about their spatial distribution. This indexing technique is applied to 3D object hypothesis generation from single views to reduce candidates in object recognition processes.Peer Reviewe

Object and image indexing based on region connection calculus and oriented matroid theory

In this paper a novel method for indexing views of 3D objects is presented. The topological properties of the regions of views of an object or of a set of objects are used to define an index based on region connection calculus and oriented matroid theory. Both are formalisms for qualitative spatial representation and reasoning and are complementary in the sense that, whereas region connection calculus characterize connectivity of couples of connected regions of views, oriented matroids encode relative position of disjoint regions of views and give local and global topological information about their spatial distribution. This indexing technique has been applied to hypothesis generation from a single view to reduce the number of candidates in 3D object recognition processes

Estructuras geométricas jerárquicas para la modelización de escenas 3d

This work surveys on the principal hierarchical geometric structures used to represent 3D scenes. We also present the basic algorithms to work with them, an overview on some recent works and a comparative discussion. This work has been the outcomes of the graduate course "Estructuras geometricas jerarquicas" given within the Software Phd. program at Software Department of this university