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Planetary systems with multiple transiting planets are beneficial for understanding planet occurrence rates and system architectures. Although we have yet to find a solar system analogue, future surveys may detect multiple terrestrial…
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.…
We propose a new algorithm to approximate the Earth Mover's distance (EMD). Our main idea is motivated by the theory of optimal transport, in which EMD can be reformulated as a familiar $L_1$ type minimization. We use a regularization which…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
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…
Mars has been a prime candidate for planetary exploration of the solar system because of the science discoveries that support chances of future habitation on this planet. Martian caves and lava tubes like terrains, which consists of uneven…
In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajectory of its joints. Each joint has limits in the ranges of…
Optimal transportation provides a means of lifting distances between points on a geometric domain to distances between signals over the domain, expressed as probability distributions. On a graph, transportation problems can be used to…
The purpose of this work is the development of space-time discretization schemes for phase-field optimal control problems. Specifically in the optimal control minimization problem, a tracking-type cost functional is minimized to steer the…
Entropic optimal transport problems are regularized versions of optimal transport problems. These models play an increasingly important role in machine learning and generative modelling. For finite spaces, these problems are commonly solved…
The possibility of jointly optimizing location sensing and communication resources, facilitated by the existence of communication and sensing spectrum sharing, is what promotes the system performance to a higher level. However, the rapid…
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…
Path planning is an important component of au- tonomous mobile sensing systems. This paper studies upper and lower bounds of communication performance over Gaussian sen- sor networks, to drive power-distortion metrics for path planning…
This paper studies the trajectory optimization problem for an aerial vehicle with the mission of flying between a pair of given initial and final locations. The objective is to minimize the travel time of the aerial vehicle ensuring that…
We design optimal harmonic-trap trajectories to transport cold atoms without final excitation, combining an inverse engineering techniqe based on Lewis-Riesenfeld invariants with optimal control theory. Since actual traps are not really…
The long-term dynamics of the geostationary Earth orbits (GEO) is revisited through the application of canonical perturbation theory. We consider a Hamiltonian model accounting for all major perturbations: geopotential at order and degree…
The Gravity Assisted Maneuver has been applied in lots of space missions, to change the spacecraft heliocentric velocity vector and the geometry of the orbit, after the close approach to a celestial body, saving propellant consumption. It…
In Cislunar space, spacecraft are able to exploit naturally periodic orbits, which provide operational reliability. However, these periodic orbits only exist in a limited volume. Enabled by low-thrust propulsion, spacecraft can produce a…
In this paper, we address the numerical solution of the Optimal Transport Problem on undirected weighted graphs, taking the shortest path distance as transport cost. The optimal solution is obtained from the long-time limit of the gradient…
The dynamical evolution of the solar system is chaotic with a Lyapunov time of only $\sim$5 Myr for the inner planets. Due to the chaos it is fundamentally impossible to accurately predict the solar system's orbital evolution beyond…