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Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

Optimization of low-thrust trajectories that involve a larger number of orbit revolutions is considered a challenging problem. This paper describes a high-precision symplectic method and optimization techniques to solve the minimum-energy…

This paper presents a comparative study of the applicability and accuracy of optimal control methods and neural network-based estimators in the context of porkchop plots for preliminary asteroid rendezvous mission design. The scenario…

Public transport is vital for meeting people's mobility needs. Providers need to plan their services well to offer high quality and low cost. Optimized planning can benefit providers, customers, and municipalities. The planning process for…

This paper presents a scalable and fault-tolerant framework for unmanned aerial vehicle (UAV) mission management in complex and uncertain environments. The proposed approach addresses the computational bottleneck inherent in solving…

Earth imaging satellites are a crucial part of our everyday lives that enable global tracking of industrial activities. Use cases span many applications, from weather forecasting to digital maps, carbon footprint tracking, and vegetation…

Transit agencies that operate battery-electric buses must carefully manage fast-charging infrastructure to extend daily bus range without degrading on-time performance. To support this need, we propose a mixed-integer linear programming…

In this paper, we consider the classical spacecraft rendezvous problem in which the so-called active spacecraft has to approach the target spacecraft which is moving in an elliptical orbit around a planet by using the minimum possible…

Route planning for military vehicles is a complex decision-making problem due to the simultaneous influence of environmental trafficability and tactical risks. This paper presents an optimization model that integrates soil trafficability…

We consider a spacecraft formation reconfiguration problem in the case of identical spacecraft. This introduces in the optimal reconfiguration problem a permutational degree of freedom, in addition to the choice of individual spacecraft…

The application of drones in the last-mile distribution is a research hotspot in recent years. Different from the previous urban distribution mode that depends on trucks, this paper proposes a novel package pick-up and delivery mode and…

In this paper we present a fast method based on successive convexification for generating fuel-optimized spacecraft rendezvous trajectories in the presence of mixed-integer constraints. A recently developed paradigm of state-triggered…

This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…

The recent growing trend to develop large-scale satellite constellations (i.e., mega-constellation) with low-cost small satellites has brought the need for an efficient and scalable maintenance strategy decision plan. Traditional spare…

We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…

The paper investigates the problem of path planning techniques for multi-copter uncrewed aerial vehicles (UAV) cooperation in a formation shape to examine surrounding surfaces. We first describe the problem as a joint objective cost for…

Recent successful lunar landing missions have generated significant interest among space agencies in establishing a permanent human settlement on the Moon. Building a lunar base requires multiple and frequent landing missions to support…

We propose an optimal solution to a deterministic dynamic assignment problem by leveraging connections to the theory of discrete optimal transport to convert the combinatorial assignment problem into a tractable linear program. We seek to…

This paper presents a decentralized, online planning approach for scalable maneuver planning for large constellations. While decentralized, rule-based strategies have facilitated efficient scaling, optimal decision-making algorithms for…

The main aim of this paper is to solve a path planning problem for an autonomous mobile robot in static and dynamic environments. The problem is solved by determining the collision-free path that satisfies the chosen criteria for shortest…