Exciting news as we share a scientific publication from our esteemed SeaClear2.0 partner, The University of Dubrovnik!

Publication Title: “Application of Hamilton–Jacobi–Bellman Equation/Pontryagin’s Principle for Constrained Optimal Control”
Authors: Jerome Weston, Domagoj Tolić & Ivana Palunko – LARIAT-UNIDU – Laboratory of Intelligent and Autonomous Systems, University of Dubrovnik, Croatia

Αbstract
This article introduces novel results for infinite- and finite-horizon optimal control problems with nonlinear dynamics and constraints. The Valentine transformation is employed to convert a constrained optimal control problem into an unconstrained one, demonstrating the uniqueness of the value function to the corresponding Hamilton–Jacobi–Bellman (HJB) equation. Discover the efficient approximation of optimal solutions using a solver based on Pontryagin’s Principle (PP). The proposed methodology is demonstrated on the path planning problem, involving state constraints in 3D environments with obstacles for unmanned aerial vehicles (UAV) and autonomous underwater vehicles (AUV).

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