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An optimal control problem for longitudinal motions of a thin elastic rod is considered. We suppose that a normal force, which changes piecewise constantly along the rod's length, is applied to the cross-section so that the positions of…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
Numerical continuation techniques are powerful tools that have been extensively used to identify particular solutions of nonlinear dynamical systems and enable trajectory design in chaotic astrodynamics problems such as the Circular…
This paper presents an end-to-end framework for robust structure/control optimization of an industrial benchmark. When dealing with space structures, a reduction of the spacecraft mass is paramount to minimize the mission cost and maximize…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
We suggest an iterative quantum protocol, allowing to solve optimization problems with a glassy energy landscape. It is based on a periodic cycling around the tricritical point of the many-body localization transition. This ensures that…
The present study proposes a new efficient and robust algorithm for multi-objectives topology optimization of heat transfer surfaces to achieve heat transfer enhancement with a less pressure drop penalty based on a continuous adjoint…
We apply techniques of subriemannian geometry on Lie groups and of optimal synthesis on 2-D manifolds to the population transfer problem in a three-level quantum system driven by two laser pulses, of arbitrary shape and frequency. In the…
This paper employs an alternate dynamical model of the circular restricted three body problem to quantify uncertainties associated with spacecraft thrusting maneuvers. A non-product quadrature scheme known as Conjugate Unscented Transform…
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…
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…
The body of work presented here revolves around the investigation of the existence and nature of extra-solar planetary systems. The fitting of stellar radial velocity time series data is attempted by constructing a model to quantify the…
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…
We present a novel motion planning algorithm for transferring a liquid body from a source to a target container. Our approach uses a receding-horizon optimization strategy that takes into account fluid constraints and avoids collisions. In…
We present a computer assisted proof or diffusion in the Planar Elliptic Restricted Three Body Problem. We treat the elliptic problem as a perturbation of the circular problem, where the perturbation parameter is the eccentricity of the…
We consider the problem of optimizing heat transport through an incompressible fluid layer. Modeling passive scalar transport by advection-diffusion, we maximize the mean rate of total transport by a divergence-free velocity field. Subject…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…
Recently developed reduced-order modeling techniques aim to approximate nonlinear dynamical systems on low-dimensional manifolds learned from data. This is an effective approach for modeling dynamics in a post-transient regime where the…
This work presents a method of efficiently computing inner and outer approximations of forward reachable sets for nonlinear control systems with changed dynamics and diminished control authority, given an a priori computed reachable set for…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…