Related papers: Lyapunov-based Low-thrust Optimal Orbit Transfer: …
In this work, we introduce a novel gradient descent-based approach for optimizing control systems, leveraging a new representation of stable closed-loop dynamics as a function of two matrices i.e. the step size or direction matrix and value…
This paper presents a synthesis approach aiming to guarantee a minimum upper-bound for the time taken to reach a target set of non-zero measure that encompasses the origin, while taking into account uncertainties and input and state…
The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
A new method is described for solving optimal control problems using direct collocation at Legendre-Gauss-Lobatto points. The approach of this paper employs a polynomial approximation of the right-hand side vector field of the differential…
We suggest and compare different methods for the numerical solution of Lyapunov like equations with application to control of Markovian jump linear systems. First, we consider fixed point iterations and associated Krylov subspace…
This paper presents a novel feedback motion planning method for mobile robot navigation in 3D uneven terrains. We take advantage of the \textit{supervoxel} representation of point clouds, which enables a compact connectivity graph of…
The correct computation of orbits of discrete dynamical systems on the interval is considered. Therefore, an arbitrary-precision floating-point approach based on automatic error analysis is chosen and a general algorithm is presented. The…
Spacecraft trajectory design is a global search problem, where previous work has revealed specific solution structures that can be captured with data-driven methods. This paper explores two global search problems in the circular restricted…
Time-reversible symplectic methods, which are precisely compatible with Liouville's phase-volume-conservation theorem, are often recommended for computational simulations of Hamiltonian mechanics. Lack of energy drift is an apparent…
In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic…
We present a novel way of generating Lyapunov functions for proving linear convergence rates of first-order optimization methods. Our approach provably obtains the fastest linear convergence rate that can be verified by a quadratic Lyapunov…
This paper presents a novel convex optimization-based method for finding the globally optimal solutions of a class of mixed-integer non-convex optimal control problems. We consider problems with non-convex constraints that restrict the…
The advent of rotor-based hopping robots has created very capable hopping platforms with high agility and efficiency, and similar controllability, as compared to their purely flying quadrotor counterparts. Advances in robot performance have…
This paper presents a multiscale approach to efficiently compute approximate optimal transport plans between point sets. It is particularly well-suited for point sets that are in high-dimensions, but are close to being intrinsically…
Linear kinetic transport equations play a critical role in optical tomography, radiative transfer and neutron transport. The fundamental difficulty hampering their efficient and accurate numerical resolution lies in the high dimensionality…
The growing interest in the cislunar domain over the past decade has led to an increasing demand for low-thrust missions to key orbits within this region. These low-thrust missions, typically characterized by long thrust arcs, are highly…
The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…
A new pairwise cost function is proposed for the optimal transport barycenter problem, adopting the form of the minimal action between two points, with a Lagrangian that takes into account an underlying probability distribution. Under this…
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with…