Related papers: Fast Trajectory Optimization via Successive Convex…
This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…
This paper presents a new efficient algorithm which guarantees a solution for a class of multi-agent trajectory planning problems in obstacle-dense environments. Our algorithm combines the advantages of both grid-based and…
This paper presents auto-tuned primal-dual successive convexification (Auto-SCvx), an algorithm designed to reliably achieve dynamically-feasible trajectory solutions for constrained hypersonic reentry optimal control problems across a…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
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…
The size and complexity of modern astronomical surveys has grown to the point where, in many cases, traditional human scheduling of observations are tedious at best and impractical at worst. Automated scheduling algorithms present an…
A convex formulation is proposed for optimal energy management in aircraft with hybrid propulsion systems consisting of gas turbine and electric motor components. By combining a point-mass aircraft dynamical model with models of electrical…
Designing trajectories for manipulation through contact is challenging as it requires reasoning of object \& robot trajectories as well as complex contact sequences simultaneously. In this paper, we present a novel framework for…
This article explores an approach to addressing the Close Enough Traveling Salesman Problem (CETSP). The objective is to streamline the mathematical formulation by introducing reformulations that approximate the Euclidean distances and…
We consider the fuel-optimal coordination of trucks into platoons. Truck platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close together and thus reducing air drag. We study how…
We propose an energy-efficient procedure for transponder configuration in FMF-based elastic optical networks in which quality of service and physical constraints are guaranteed and joint optimization of transmit optical power, temporal,…
Mixed-integer convex programming (MICP) has seen significant algorithmic and hardware improvements with several orders of magnitude solve time speedups compared to 25 years ago. Despite these advances, MICP has been rarely applied to…
To overcome the limitations of current parafoil precision landing capabilities, an efficient real-time convex optimized guidance and control strategy is presented. Successive convexification of the parafoil guidance problem guarantees local…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
We present a trajectory-based optimization framework for arrival sequencing and scheduling in the terminal maneuvering area (TMA). Unlike node-link scheduling models that reduce trajectories to time-delay variables, the proposed method…
A computationally efficient method to solve non-convex programming problems with linear equality constraints is presented. The proposed method is based on a recursively feasible and descending sequential convex programming procedure proven…
The problem of how to coordinate a large fleet of trucks with given itinerary to enable fuel-efficient platooning is considered. Platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close…
In order to improve the communication of the UAV network when the UAV formation in a complex military mission environment. This paper proposed formation reconfiguration strategy under complexities mission environment. We take the problem of…
The trajectory planning problem (TPP) has become increasingly crucial in the research of next-generation transportation systems, but it presents challenges due to the non-linearity of its constraints. One specific case within TPP, namely…
In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted sum of two conflicting objectives, energy consumption and travel time, is minimized. After deriving a non-convex mathematical model of the…