Related papers: Optimal Rendezvous Path Planning to an Uncontrolle…
A novel trajectory design methodology is proposed in the current work to minimize the state uncertainty in the crucial mission of spacecraft rendezvous. The trajectory is shaped under constraints utilizing a multiple-impulse approach. State…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
The classical setting of optimal control theory assumes full knowledge of the process dynamics and the costs associated with every control strategy. The problem becomes much harder if the controller only knows a finite set of possible…
The problem under consideration is to drive a spatial vehicle to a target at a given final time while minimizing fuel consumption. This is a classical optimal control problem in a deterministic setting. However temporary stochastic failures…
In the event of a total loss of thrust, a pilot must identify a reachable landing site and subsequently execute a forced landing. To do so, they must estimate which region on the ground can be reached safely in gliding flight. We call this…
This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do…
A fundamental maneuver in autonomous space operations is known as rendezvous, where a spacecraft navigates to and approaches another spacecraft. In this case study, we present linear and nonlinear benchmark models of an active chaser…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface…
We present an optimization-based approach for trajectory planning and control of a maneuverable melting probe with a high number of binary control variables. The dynamics of the system are modeled by a set of ordinary differential equations…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…