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The optimal control of a UAV searching for a slower moving ground target on a road network is considered. To aid the UAV, the road network has been instrumented with Unattended Ground Sensors (UGSs). The target/intruder heads towards a protected goal region, oblivious of being tracked by the UAV. Whenever the intruder reaches an intersection in the road… (More)

A method of stabilizing feedback control, known as adaptive-Q control is applied to a LQG disk drive control system to improve its disturbance rejection property. This approach follows the well known result that all stabilizing controllers for a plant can be synthesized by conveniently parametrized augmentations to a nominal controller. The augmentation is… (More)

- Kalyanam Krishnamoorthy, Meir Pachter, Michael Patzek, Clayton Rothwell, Swaroop Darbha
- IEEE Trans. Human-Machine Systems
- 2016

The optimal control of a “blind” pursuer searching for an evader moving on a road network and heading at a known speed toward a set of goal vertices is considered. To aid the “blind” pursuer, certain roads in the network have been instrumented with Unattended Ground Sensors (UGSs) that detect the evader’s passage. When the pursuer arrives at an instrumented… (More)

We consider a class of pursuit-evasion problems where an evader enters a directed acyclic graph and attempts to reach one of the terminal nodes. A pursuer enters the graph at a later time and attempts to capture the evader before it reaches a terminal node. The pursuer can only obtain information about the evader’s path via sensors located at each node in… (More)

- Myoungkuk Park, Kalyanam Krishnamoorthy, Swaroop Darbha, Phillip R. Chandler, Meir Pachter
- Oper. Res. Lett.
- 2012

Myoungkuk Park Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, robotian@gmail.com Krishnamoorthy Kalyanam Infoscitex Corporation, Dayton, OH 45431, krishna.kalyanam@gmail.com Swaroop Darbha Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, dswaroop@tamu.edu Phil Chandler Control… (More)

A reduced order Dynamic Programming (DP) method that efficiently computes the optimal policy and value function for a class of controlled Markov chains is developed. We assume that the Markov chains exhibit the property that a subset of the states have a single (default) control action associated with them. Furthermore, we assume that the transition… (More)