How humans fly

Alain Ajami; Jean-Paul Gauthier; Thibault Maillot; Ulysse Serres

ESAIM: Control, Optimisation and Calculus of Variations (2013)

  • Volume: 19, Issue: 4, page 1030-1054
  • ISSN: 1292-8119

Abstract

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This paper is devoted to the general problem of reconstructing the cost from the observation of trajectories, in a problem of optimal control. It is motivated by the following applied problem, concerning HALE drones: one would like them to decide by themselves for their trajectories, and to behave at least as a good human pilot. This applied question is very similar to the problem of determining what is minimized in human locomotion. These starting points are the reasons for the particular classes of control systems and of costs under consideration. To summarize, our conclusion is that in general, inside these classes, three experiments visiting the same values of the control are needed to reconstruct the cost, and two experiments are in general not enough. The method is constructive. The proof of these results is mostly based upon the Thom’s transversality theory. This study is partly supported by FUI AAP9 project SHARE, and by ANR Project GCM, program “blanche”, project number NT09-504490.

How to cite

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Ajami, Alain, et al. "How humans fly." ESAIM: Control, Optimisation and Calculus of Variations 19.4 (2013): 1030-1054. <http://eudml.org/doc/272926>.

@article{Ajami2013,
abstract = {This paper is devoted to the general problem of reconstructing the cost from the observation of trajectories, in a problem of optimal control. It is motivated by the following applied problem, concerning HALE drones: one would like them to decide by themselves for their trajectories, and to behave at least as a good human pilot. This applied question is very similar to the problem of determining what is minimized in human locomotion. These starting points are the reasons for the particular classes of control systems and of costs under consideration. To summarize, our conclusion is that in general, inside these classes, three experiments visiting the same values of the control are needed to reconstruct the cost, and two experiments are in general not enough. The method is constructive. The proof of these results is mostly based upon the Thom’s transversality theory. This study is partly supported by FUI AAP9 project SHARE, and by ANR Project GCM, program “blanche”, project number NT09-504490.},
author = {Ajami, Alain, Gauthier, Jean-Paul, Maillot, Thibault, Serres, Ulysse},
journal = {ESAIM: Control, Optimisation and Calculus of Variations},
keywords = {inverse optimal control; anthropomorphic control; transversality},
language = {eng},
number = {4},
pages = {1030-1054},
publisher = {EDP-Sciences},
title = {How humans fly},
url = {http://eudml.org/doc/272926},
volume = {19},
year = {2013},
}

TY - JOUR
AU - Ajami, Alain
AU - Gauthier, Jean-Paul
AU - Maillot, Thibault
AU - Serres, Ulysse
TI - How humans fly
JO - ESAIM: Control, Optimisation and Calculus of Variations
PY - 2013
PB - EDP-Sciences
VL - 19
IS - 4
SP - 1030
EP - 1054
AB - This paper is devoted to the general problem of reconstructing the cost from the observation of trajectories, in a problem of optimal control. It is motivated by the following applied problem, concerning HALE drones: one would like them to decide by themselves for their trajectories, and to behave at least as a good human pilot. This applied question is very similar to the problem of determining what is minimized in human locomotion. These starting points are the reasons for the particular classes of control systems and of costs under consideration. To summarize, our conclusion is that in general, inside these classes, three experiments visiting the same values of the control are needed to reconstruct the cost, and two experiments are in general not enough. The method is constructive. The proof of these results is mostly based upon the Thom’s transversality theory. This study is partly supported by FUI AAP9 project SHARE, and by ANR Project GCM, program “blanche”, project number NT09-504490.
LA - eng
KW - inverse optimal control; anthropomorphic control; transversality
UR - http://eudml.org/doc/272926
ER -

References

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