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Prioritized optimal control

Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
We compared our approach with both prioritized control and optimal control with tests on a simulated robot with 11 degrees of freedom.  ...  Optimal control instead formulates an optimization problem whose solution is either a feedback control policy or a feedforward trajectory of control inputs.  ...  Control and Prioritized Optimal Control.  ... 
doi:10.1109/icra.2014.6907214 dblp:conf/icra/PreteRNMSN14 fatcat:e2q6nqsmgvd2rmq7pwrpxbpfr4

Prioritized optimization for task-space control

Martin de Lasa, Aaron Hertzmann
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We introduce an optimization framework called prioritized optimization control, in which a nested sequence of objectives are optimized so as not to conflict with higher-priority objectives.  ...  This scheme unifies prioritized task-space and optimization-based control. Our method computes control torques for all presented examples in real-time.  ...  PRIORITIZED OPTIMIZATION We now introduce the concept of prioritized optimization. In the next section, we show how it can be applied to taskspace control. A.  ... 
doi:10.1109/iros.2009.5354341 dblp:conf/iros/LasaH09 fatcat:p5el5nkirfenho3vn3nvjeagai

Prioritized optimal control: A hierarchical differential dynamic programming approach

Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Our recent work on prioritized optimal control merges the advantages of both these methods.  ...  This paper reformulates the original prioritized optimal control algorithm with the precise goal of improving its computational speed.  ...  The developed algorithm gathers the benefits of prioritized control and optimal control.  ... 
doi:10.1109/icra.2015.7139697 dblp:conf/icra/RomanoPMN15 fatcat:aoqsmghi4zc6xmej56fmtr32ra

Optimal spatial prioritization of control resources for elimination of invasive species under demographic uncertainty [article]

Kim Pepin, Timothy Smyser, Amy Davis, Ryan Miller, Sophie McKee, Kurt VerCauteren, Chris Slootmaker
2019 biorxiv/medrxiv   pre-print
structure and abundance reduced ROI of the optimal prioritization strategy by 57% on average depending on the control budget.  ...  activities are important and challenging future directions for optimizing ROI for invasive species control programs.  ...  structure and abundance reduced ROI of the optimal prioritization strategy by 57% on average depending on the control budget.  ... 
doi:10.1101/812305 fatcat:jzrmhjbyirhkfmnfpc72n67gc4

Linear MPC with Optimal Prioritized Infeasibility Handling: Application, Computational Issues and Stability

Jostein Vada, Olav Slupphaug, Tor A. Johansen, Bjarne A. Foss
2001 Modeling, Identification and Control  
W e present a recently developed infeasibility handler which computes optimal relaxations of the relaxable constraints subject to a user-de ned prioritization, by solving only a single linear program on-line  ...  Key words: Model based control infeasibility handling linear programming linear systems.  ...  Optimal weight design problem (OWDP) In this section we formulate the problem of computing optimal constraint violations subject to hard prioritization as a single LP problem to besolved on-line at each  ... 
doi:10.4173/mic.2001.4.4 fatcat:pxmnwh4ghfaofdlnxrjddoauc4

A Low Computational Cost, Prioritized, Multi-objective Optimization Procedure for Predictive Control Towards Cyber Physical Systems

Clara Ionescu, Ricardo Cajo, Shiquan Zhao, Mihaela Ghita, Maria Ghita, Dana Copot
2020 IEEE Access  
A comparison between the fully optimized process performance and computational time is given against the proposed multi-objective prioritized optimization algorithm.  ...  MULTI-OBJECTIVE OPTIMIZATION WITH PRIORITIES At this point, everything is ready for the next step, i.e. the prioritized multi-objective optimization (MO) algorithm from Fig. 1 .  ...  Since October 2016 she is professor at Ghent University, teaching Computer Control of Industrial Processes within the Control and Automation Master Program.  ... 
doi:10.1109/access.2020.3007924 fatcat:rsr4lg5aozbwbmqpuwvllinnza

Prioritize and Identify Main Influencing Causes for Cost Control and Optimal Cost Reduction Technique in Mega Construction Projects

Yasser Aboelmagd
2021 JES. Journal of Engineering Sciences  
The main objectives of this paper are 1) Identify and prioritize the main problems for lack of techniques which cause poor management of cost control with poor site organization and inadequate supervision  ...  The detailed scope of control systems must base on the complexity, size, and sensitivity strategy of the studied project.  ...  Organizational measures are practices wider use for the actual control process and influenced project control.  ... 
doi:10.21608/jesaun.2021.68050.1041 fatcat:m26ayaglpndodihhhwrbioviry

Whole-body Motion Tracking for a Quadruped-on-wheel Robot via a Compact-form Controller with Improved Prioritized Optimization

Wenqian Du, Mohamed Fnadi, Faiz Ben Amar
2020 IEEE Robotics and Automation Letters  
The dynamics controller is based on a new hybrid hierarchical and prioritized weighted optimization framework.  ...  Whole-body motion tracking for a quadruped-onwheel robot via a compact-form controller with improved prioritized optimization.  ...  Proposed Prioritized Impedance Controllers In this subsection, prioritized impedance controllers are proposed and developed to be compatible with the hybrid optimization framework.  ... 
doi:10.1109/lra.2019.2963822 fatcat:wmkqzi5a5bfzthvn3hzcegxmpm

A Survey on Test Case Prioritization Techniques for Regression Testing

G. Pardha Sagar, P. V. R. D. Prasad
2017 Indian Journal of Science and Technology  
Several test case prioritization techniques are presented for regression testing of various applications.  ...  For that, several test case prioritization techniques which are classified based on various parameters are investigated.  ...  The methods taken into consideration are RL-Based HMM, Accumulated Q Value, Additional Statement Coverage, Random Control Operation, Worst Control Operation, and Optimal Control Operation.  ... 
doi:10.17485/ijst/2017/v10i10/99661 fatcat:z2ecch4nw5febfaqrel7g6pg4a

Prioritizing connection requests in GMPLS-controlled optical networks

S. Ruepp, A. Koster, N. Andriolli, A.V. Manolova
2009 2009 International Conference on Photonics in Switching  
We prioritize bidirectional connection requests by combining dynamic connection provisioning with off-line optimization.  ...  In the wavelength prioritized scenario, the optimization tool prioritizes requests that require WCs according to the highest wavelength used.  ...  Simulation scenario and results We are using OPNET Modeler [9] , a commercial discrete event simulation tool, combined with CPLEX-based off-line optimization to simulate connection allocation in a GMPLS-controlled  ... 
doi:10.1109/ps.2009.5307736 fatcat:r5yhrbzamfb3ljefhufwvhuxhm

A Multi Criteria based Test Suite Optimization Framework

Shilpi Singh, Raj Shree
2017 International Journal of Software Engineering and Its Applications  
for optimizing the test suite size.  ...  This paper proposed the new optimization framework which works in three phases: test case analysis, test case clustering, and test suite optimization.  ...  Test Suite Optimization In this phase the selected combination of optimization technique (i.e., reduction before prioritization or prioritization before reduction) is executed on each cluster.  ... 
doi:10.14257/ijseia.2017.11.1.08 fatcat:ywtnhm3zgfh3vdygxvr7ptd2uq

A Set-Theoretic Approach to Multi-Task Execution and Prioritization [article]

Gennaro Notomista, Siddharth Mayya, Mario Selvaggio, Maria Santos, and Cristian Secchi
2020 arXiv   pre-print
We introduce the concept of extended set-based tasks, encode them using control barrier functions, and execute them by means of a constrained-optimization problem, which can be efficiently solved in an  ...  In this paper, we present an optimization-based task execution and prioritization framework that lends itself to the case of time-varying priorities as well as variable number of tasks.  ...  In this paper, we present an optimization-based control framework that allows robots to execute and prioritize a set of tasks.  ... 
arXiv:2003.02968v1 fatcat:gg4xe2tyardg5cpdsri5zi7rou

Page 1050 of The Journal of Applied Ecology Vol. 41, Issue 6 [page]

2004 The Journal of Applied Ecology  
In this study we used a genetic algorithm (Goldberg 1989) to find optimal density-based control strategies.  ...  When biological control agents are introduced to control an invasive species, one objective is to optimize the timing and size of releases in order to maximize the establishment of agents (Shea & Possingham  ... 

Network-based dynamic prioritization of HTTP adaptive streams to avoid video freezes

Stefano Petrangeli, Tim Wauters, Rafael Huysegems, Tom Bostoen, Filip De Turck
2015 2015 IFIP/IEEE International Symposium on Integrated Network Management (IM)  
An Openflow-controller is in charge of introducing prioritized delivery of HAS segments, based on feedback collected from both the network nodes and the clients.  ...  To reduce the sideeffects introduced by prioritization on the bandwidth estimation of the clients, we introduce a novel mechanism to inform the clients about the prioritization status of the downloaded  ...  Second, a prioritized segment entails that the decision of the client is not optimal or that a sudden bandwidth drop has occurred.  ... 
doi:10.1109/inm.2015.7140475 dblp:conf/im/PetrangeliWHBT15 fatcat:c4gamklgwjgupfdva7omn3rxdu

A Prioritization Approach for Regression Test Cases Based on a Revised Genetic Algorithm

Thamer Alrawashdeh, Fuad ElQirem, Ahmad Althunibat, Roba Alsoub
2021 Information Technology and Control  
Moreover, inorder to improve the coverage percentage, the proposed approach has revised the genetic algorithm by solvingthe problem of the optimal local solution.  ...  In order to overcome sucha problem in the selection of regression test cases, a prioritization technique should be employed.  ...  Considering the average of percentage of the coverage, it could be extended to enhance regression test cases selection and prioritization.  ... 
doi:10.5755/j01.itc.50.3.27662 fatcat:6g37te7ucbbi3fxkjd7nnsmdjm
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