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The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea…
As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
Timely transportation of organs, patients, and medical supplies is critical to modern healthcare, particularly in emergencies and transplant scenarios where even short delays can severely impact outcomes. Traditional ground-based vehicles…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
Few activities are as crucial in urban environments as waste management. Mismanagement of waste can cause significant economic, social, and environmental damage. However, waste management is often a complex system to manage and therefore…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…
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…
As UAV popularity soars, so does the mission planning associated with it. The classical approaches suffer from the triple problems of decoupled of task assignment and path planning, poor real-time performance and limited adaptability.…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
This letter aims to present a novel approach for unmanned aerial vehicles (UAV)' path planning with respect to certain quality of service requirements. More specifically, we study the max-min fairness problem in an air-to-ground…
This paper presents a semi-Markov decision process (SMDP) formulation of the satellite task scheduling problem. This formulation can consider multiple operational objectives simultaneously and plan transitions between distinct functional…
The design of transfers to periodic orbits in the Earth-Moon system has regained prominence with NASA's Artemis and CNSA's Chang'e programs. This work addresses the problem of linking ballistic capture trajectories - exploiting multi-body…
Single-task UAVs are increasingly being employed to carry out surveillance, parcel delivery, communication support, and other specific tasks. When the geographical area of operation of single-task missions is common, e.g., in post-disaster…
This paper presents a convex approach to the optimization of a cooperative rendezvous, that is, the problem of two distant spacecraft that simultaneously operate to get closer. Convex programming guarantees convergence towards the optimal…
The computation of the Minimum Orbital Intersection Distance (MOID) is an old, but increasingly relevant problem. Fast and precise methods for MOID computation are needed to select potentially hazardous asteroids from a large catalogue. The…
The prevailing assumption holds that on-orbit servicing (OOS) of mega-constellations is infeasible due to prohibitive fuel consumption incurred by multiple rendezvous maneuvers across vast and dispersed satellite populations. To address…
In this paper we describe a machine learning based framework for spacecraft swarm trajectory planning. In particular, we focus on coordinating motions of multi-spacecraft in formation flying through passive relative orbit(PRO) transfers.…