arXiv subjects

Ania Adil

Publications and source records attributed to Ania Adil.

5 recordsLinked to original sources

arXiv2026

Long-Horizon Geometry-Aware Navigation among Polytopes via MILP-MPC and Minkowski-Based CBFs

Autonomous navigation in complex, non-convex environments remains challenging when robot dynamics, control limits, and exact robot geometry must all be taken into account. In this paper, we propose a hierarchical planning and control framework that bridges long-horizon guidance and geometry-aware safety guarantees for a polytopic robot navigating among polytopic obstacles. At the high level, Mixed-Integer Linear Programming (MILP) is embedded within a Model Predictive Control (MPC) framework to generate a nominal trajectory around polytopic obstacles while modeling the robot as a point mass for computational tractability. At the low level, we employ a control barrier function (CBF) based on the exact signed distance in the Minkowski-difference space as a safety filter to explicitly enforce the geometric constraints of the robot shape, and further extend its formulation to a high-order CBF (HOCBF). We demonstrate the proposed framework in U-shaped and maze-like environments under single- and double-integrator dynamics. The results show that the proposed architecture mitigates the topology-induced local-minimum behavior of purely reactive CBF-based navigation while enabling safe, real-time, geometry-aware navigation.

cs.RO↗

arXiv2025

Intervention Strategies for Fairness and Efficiency at Autonomous Single-Intersection Traffic Flows

Intersections present significant challenges in traffic management, where ensuring safety and efficiency is essential for effective flow. However, these goals are often achieved at the expense of fairness, which is critical for trustworthiness and long-term sustainability. This paper investigates how the timing of centralized intervention affects the management of autonomous agents at a signal-less, orthogonal intersection, while satisfying safety constraints, evaluating efficiency, and ensuring fairness. A mixed-integer linear programming (MILP) approach is used to optimize agent coordination within a circular control zone centered at the intersection. We introduce the concept of fairness, measured via pairwise reversal counts, and incorporate fairness constraints into the MILP framework. We then study the relationship between fairness and system efficiency and its impact on platoon formation. Finally, simulation studies analyze the effectiveness of early versus late intervention strategies and fairness-aware control, focusing on safe, efficient, and robust management of agents within the control zone.

eess.SY↗

arXiv2024

Modulating function-based fast convergent observer for the Coupled Tanks system

In this research, we apply the observer approach introduced by Djennoune et al. \cite{djennoune2019modulating} to estimate water levels in a coupled tanks system. Central to this approach is the use of a remarkable modulating function-based transformation $T_n $, which employs a time/output-dependent coordinate transformation. This transformation converts the original system into a form where the effects of initial conditions are effectively nullified. The primary advantage of utilizing the $T_n $ transformation is its ability to achieve instantaneous convergence, ensuring both rapid and accurate state estimation. The observer's finite-time convergence is assured, with the estimation error remaining bounded within a finite period. Numerical simulations further validate the effectiveness of this method for the Coupled Tanks system, demonstrating the robustness of the $T_n $ transformation in practical applications.

math.DS↗

arXiv2024

Mixed-Integer Linear Programming Model for Collision Avoidance Planning in Commercial Aircraft Formations

With advancements in technology, commercial aircraft formation flying is becoming increasingly feasible as an efficient and environmentally friendly flight method. However, gaps remain in practical implementation, particularly in collision avoidance for aircraft formations. Existing avoidance algorithms mainly focus on single aircraft or UAV swarms, lacking comprehensive studies on the complex interactions within commercial aircraft formations. To address this, this paper proposes an optimization model designed to generate safe and effective collision avoidance solutions for commercial aircraft formations. This model demonstrates avoidance paths for formations facing intruders and offers insights for developing formation flight strategies. This study explores response strategies for commercial aircraft formations encountering intruders, considering the difficulty of pilot maneuvers. The findings provide theoretical support for the practical implementation of commercial formation flying and may advance the adoption of this technology.

eess.SY↗

arXiv2024

Early Versus Late Traffic Management For Autonomous Agents

Intersections pose critical challenges in traffic management, where maintaining operational constraints and ensuring safety are essential for efficient flow. This paper investigates the effect of intervention timing in management strategies on maintaining operational constraints at intersections while ensuring safe separation distance, avoiding collisions, and minimizing delay. We introduce control regions, represented as circles around the intersection, which refers to the timing of interventions by a centralized control system when agents approach the intersection. We use a mixed-integer linear programming (MILP) approach to optimize the system's performance. To analyze the effectiveness of early and late control measures, a simulation study is conducted, focusing on the safe, efficient, and robust management of agent movement within the control regions.

eess.SY↗