Related papers: Fast Trajectory Optimization via Successive Convex…
We solve the minimum-thrust optimal trajectory generation problem for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft using convex optimisation. The method is based on a change of differential operator that allows…
This paper presents the SCvx algorithm, a successive convexification algorithm designed to solve non-convex constrained optimal control problems with global convergence and superlinear convergence-rate guarantees. The proposed algorithm can…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
In this paper, we present a computationally efficient trajectory optimizer that can exploit GPUs to jointly compute trajectories of tens of agents in under a second. At the heart of our optimizer is a novel reformulation of the non-convex…
We present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging nonlinear programming (NLP) problem into two easier…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
This paper studies energy-efficient unmanned aerial vehicle (UAV)-enabled wireless communications, where the UAV acts as a flying base station (BS) to serve the ground users (GUs) within some predetermined latency constraints, e.g.,…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
In this paper we propose a fast optimization algorithm for approximately minimizing convex quadratic functions over the intersection of affine and separable constraints (i.e., the Cartesian product of possibly nonconvex real sets). This…
Most of the optimal guidance problems can be formulated as nonconvex optimization problems, which can be solved indirectly by relaxation, convexification, or linearization. Although these methods are guaranteed to converge to the global…
With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this paper, we propose a framework for generating large-scale…
Unmanned aerial vehicles (UAVs) have received plenty of attention due to their high flexibility and enhanced communication ability, nonetheless, the limited onboard energy restricts UAVs' application on persistent data collection missions…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
This paper presents a time-constrained model predictive control strategy for the six degree-of-freedom autonomous rendezvous, proximity, operations and docking problem between a controllable "deputy" satellite and an uncontrolled "chief"…
Recently, unmanned aerial vehicle (UAV) has attracted much attention due to its flexible deployment and controllable mobility. As the general communication network cannot meet the emergency requirements, in this paper we study the multi-UAV…
This research introduces a novel application of a masked Proximal Policy Optimization (PPO) algorithm from the field of deep reinforcement learning (RL), for determining the most efficient sequence of space debris visitation, utilizing the…