Related papers: Designing Complex Interplanetary Trajectories for …
Trajectory planning is a key piece in the algorithmic architecture of a robot. Trajectory planners typically use iterative optimization schemes for generating smooth trajectories that avoid collisions and are optimal for tracking given the…
We present a framework wherein the trajectory optimization problem (or a problem involving calculus of variations) is formulated as a search problem in a discrete space. A distinctive feature of our work is the treatment of discretization…
In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus…
A conceptual design of a launch vehicle involves the optimization of trajectory and stages considering its launch operations. This process encompasses various disciplines, such as structural design, aerodynamics, propulsion systems, flight…
A robust drift-safe rendezvous trajectory optimization tool is developed in this work, with applications to orbital rendezvous and proximity operations. The method is based on direct collocation and utilizes a sequential convex programming…
A method is presented to solve a stochastic, nonlinear optimal control problem representative of spacecraft trajectory design under uncertainty. The problem is reformulated as a chance constrained nonlinear program, or what is known as a…
Interstellar objects (ISOs) represent a compelling and under-explored category of celestial bodies, providing physical laboratories to understand the formation of our solar system and probe the composition and properties of material formed…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
The orienteering problem (OP) is a combinatorial optimization problem that seeks a path visiting a subset of locations to maximize collected rewards under a limited resource budget. This article presents a systematic PRISMA-based review of…
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…
To generate safe and real-time trajectories for an autonomous vehicle in dynamic environments, path and speed decoupled planning methods are often considered. This paper studies speed planning, which mainly deals with dynamic obstacle…
This paper investigates the use of Reinforcement Learning for the robust design of low-thrust interplanetary trajectories in presence of severe disturbances, modeled alternatively as Gaussian additive process noise, observation noise,…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
Low-thrust trajectory design relies heavily on repeated evaluations of fuel consumption and transfer feasibility, which require expensive optimal control solutions. In this work, we show these quantities can be accurately approximated by…
This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible…
This paper introduces a problem in which the state of a system needs to be determined through costly tests of its components by a limited number of testing units and before a given deadline. We also consider a closely related search problem…
High-precision radial velocity planet searches have surveyed over ~2000 nearby stars and detected over ~200 planets. While these same stars likely harbor many additional planets, they will become increasingly challenging to detect, as they…