We present a review of our recent work in the area of distributed model predictive control (DMPC) for large-scale decoupled systems. We formulate an optimal control problem in discrete time, where the cost function and constraints couple the dynamical behavior of the subsystems. The coupling is described through a graph where each system is a node and the control action at each node is based on...

Gaining insights into pedestrian flow operations and assessment tools for pedestrian walking speeds and comfort is important in, for instance, planning and geometric design of infrastructural facilities, as well as for management of pedestrian flows under regular and safety-critical circumstances. Pedestrian flow operations are complex, and vehicular flow simulation modelling approaches are gen...

D-optimal designs are n x n ±l-matrices where n == 2 mod 4 with maximum determinant. D-optimal designs obtained via circulant matrices are equivalent to 2-{ v; kl i k2 i k1 + k2 ~(v 1)} supplementary difference sets, where v = ~. We use cyclotomy to construct D-optimal designs, where v is a prime. We give a generalisation of cyclotomy and extend the cyclotomic techniques which enables use to fi...

In this paper, we generalize the Boltzmann–Hamel equations for nonholonomic mechanics to a form suited for the kinematic or dynamic optimal control of mechanical systems subject to nonholonomic constraints. In solving these equations one is able to eliminate the controls and compute the optimal trajectory from a set of coupled first-order differential equations with boundary values. By using an...

This paper presents an optimal design for local communication between multiple mobile robots. In previous studies of local communication in multirobot systems, the area of communication was not designed using mathematical analysis, but only time-consuming simulations of multirobot communications. We analyzed the information transmission efficiency and created an optimal communication area that ...

We consider the application of a variable V-cycle multigrid algorithm for the hybridized mixed method for second order elliptic boundary value problems. Our algorithm differs from previous works on multigrid for the mixed method in that it is targeted at efficiently solving the matrix system for the Lagrange multiplier of the method. Since the mixed method is best implemented by first solving f...

In this paper we explore the Vs-optimality criterion that was proposed in Ginsburg and Ben-Gal (IIE Trans. 2006; 38:445– 461) as a new design-of-experiment (DOE) alphabetic optimality criterion. The Vs-optimality criterion seeks to minimize the variance of the optimal solution of an empirically fitted model. We show that the Vs-optimality citerion is well related to known alphabetic DOE criteri...

We address the problem of delivering as quickly as possible a requested torque produced by a spark ignition engine equipped with a multi-point port injection manifold and with electronic throttle. The optimal control problem, subject to the constraint that the air}fuel ratio stays within a pre-assigned range around the stoichiometric ratio, is solved for a detailed, cycle-accurate hybrid model ...

Optimal control problems with partial differential equations as constraints play an important role in many applications. The inclusion of bound constraints for the state variable poses a significant challenge for optimization methods. Our focus here is on the incorporation of the constraints via the Moreau-Yosida regularization technique. This method has been studied recently and has proven to ...