Optimal control theory provides a rigorous mathematical framework for determining control policies that optimise a given performance criterion while accounting for system dynamics and constraints. Its ...

Optimal control problems are mathematical formulations used to determine control strategies that yield a desired outcome while minimising a prescribed cost function. In many applications, these ...

Abstract: Providing formal guarantees for constraint satisfaction is a crucial problem in safety-critical applications. We address this problem by combining robust optimal control with set-based ...

Abstract: The problem of incompressible fluid mixing arises in numerous engineering applications and has been well-studied over the years, yet many open questions remain. This paper aims to address ...

Solving stochastic optimal control problems with quadratic control costs can be viewed as approximating a target path space measure, e.g. via gradient-based optimization. In practice, however, this ...

Factor graph optimization serves as a fundamental framework for robotic perception, enabling applications such as pose estimation, simultaneous localization and mapping (SLAM), structure-from-motion ...