Related papers: Coupled attitude and trajectory optimization for a…
We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…
This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…
This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited…
In this paper, a dynamic-programming approach to the coupled translational and rotational control of thruster-driven spacecraft is studied. To reduce the complexity of the problem, dynamic-programming-based optimal policies are calculated…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
As we move to increasingly complex cyber-physical systems (CPS), new approaches are needed to plan efficient state trajectories in real-time. In this paper, we propose an approach to significantly reduce the complexity of solving optimal…
This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional…
This paper presents a continuous optimization approach to DCOC and its application to spacecraft high-precision attitude control. The approach computes a control input sequence that maximizes the time-before-exit by solving a nonlinear…
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…
We study a pursuit-evasion problem which can be viewed as an extension of the keep-away game. In the game, pursuer(s) will attempt to intersect or catch the evader, while the evader can visit a fixed set of locations, which we denote as the…
This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…
In this paper, we present a method to initialize at a feasible point and unfailingly solve a non-convex optimization problem in which a set-point motion is planned for a multi-link manipulator under state and control constraints. We…
One of the fundamental problems in spacecraft trajectory design is finding the optimal transfer trajectory that minimizes the propellant consumption and transfer time simultaneously. We formulate this as a multi-objective optimal control…
This paper studies the integrated spacecraft routing and trajectory optimization problem for satellite servicing missions involving partial en-route propellant replenishment. Unlike terrestrial routing problems, spacecraft operate in a…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
Understanding the complex patterns in space-time exhibited by active systems has been the subject of much interest in recent times. Complementing this forward problem is the inverse problem of controlling active matter. Here we use optimal…
Solving for the minimum time bounded acceleration trajectory with prescribed position and velocity at endpoints is a highly nonlinear problem. The methods and bounds developed in this paper distinguish when there is a continuous…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…