A Fast Markov Decision Process-Based Algorithm for Collision Avoidance in Urban Air Mobility

Author(s):  
Josh Bertram ◽  
Peng Wei ◽  
Joseph Zambreno
Author(s):  
Hossein Rastgoftar ◽  
Xiangyu Ni ◽  
Ella M. Atkins

In this paper, we apply a Markov Decision Process (MDP) to assure collision avoidance and specify optimal paths for evolution of an agent with nonlinear dynamics. We consider evolution of an autonomous wheeled robot in a motion field where a malicious agent has stochastic transitions over the field. By knowing the history of malicious agent transition as well as initial and goal destinations of the autonomous robot, the optimal path is obtained using the Bellman equation. We propose a novel finite time controller that assures reachability of desired way-points along the optimal path, where the optimal path is obtained without deriving the Hamiltonian.


Mathematics ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 1385
Author(s):  
Irais Mora-Ochomogo ◽  
Marco Serrato ◽  
Jaime Mora-Vargas ◽  
Raha Akhavan-Tabatabaei

Natural disasters represent a latent threat for every country in the world. Due to climate change and other factors, statistics show that they continue to be on the rise. This situation presents a challenge for the communities and the humanitarian organizations to be better prepared and react faster to natural disasters. In some countries, in-kind donations represent a high percentage of the supply for the operations, which presents additional challenges. This research proposes a Markov Decision Process (MDP) model to resemble operations in collection centers, where in-kind donations are received, sorted, packed, and sent to the affected areas. The decision addressed is when to send a shipment considering the uncertainty of the donations’ supply and the demand, as well as the logistics costs and the penalty of unsatisfied demand. As a result of the MDP a Monotone Optimal Non-Decreasing Policy (MONDP) is proposed, which provides valuable insights for decision-makers within this field. Moreover, the necessary conditions to prove the existence of such MONDP are presented.


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