Related papers: On-Orbit Servicing Optimization Framework with Hig…
This study proposes a simulation framework of procurement operations in the container logistics industry that can support the development of dynamic procurement strategies. The idea is inspired by the success of Passenger Origin-Destination…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
Robust optimization (RO) has emerged as one of the leading paradigms to efficiently model parameter uncertainty. The recent connections between RO and problems in statistics and machine learning domains demand for solving RO problems in…
Efficient and safe trajectory planning plays a critical role in the application of quadrotor unmanned aerial vehicles. Currently, the inherent trade-off between constraint compliance and computational efficiency enhancement in UAV…
Autonomous spacecraft control for mission phases such as launch, ascent, stage separation, and orbit insertion remains a critical challenge due to the need for adaptive policies that generalize across dynamically distinct regimes. While…
This paper presents an evolutionary algorithm with a new goal-sequence domination scheme for better decision support in multi-objective optimization. The approach allows the inclusion of advanced hard/soft priority and constraint…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
We consider a multi-stage stochastic lot-sizing problem with service level constraints and supplier-driven product substitution. A firm has multiple products and it has the option to meet demand from substitutable products at a cost.…
Multi-cloud systems facilitate a cost-efficient and geographically-distributed deployment of microservice-based applications by temporary leasing virtual nodes with diverse pricing models. To preserve the cost-efficiency of multi-cloud…
This paper proposes a momentum-constrained hybrid heuristic trajectory optimization framework (MHHTOF) tailored for assistive navigation in visually impaired scenarios, integrating trajectory sampling generation, optimization and evaluation…
This paper introduces a new optimization model that integrates the multi-port stowage planning problem with the container relocation problem. This problem is formulated as a binary mathematical programming model that must find the…
This paper presents an optimal motion planning framework to generate versatile energy-optimal quadrupedal jumping motions automatically (e.g., flips, spin). The jumping motions via the centroidal dynamics are formulated as a 12-dimensional…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Efficient workload assignment to the workforce is critical in last-mile package delivery systems. In this context, traditional methods of assigning package deliveries to workers based on geographical proximity can be inefficient and surely…
This paper proposes a two-step framework for techno-economic analysis of a demand-side flexibility service in distribution networks. Step one applies optimization-based modelling to propose a generic problem formulation which determines the…
An essential consideration in urban transit facility planning is service efficiency and accessibility. Previous research has shown that reducing the number of facilities along a route may increase efficiency but decrease accessibility.…
This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…
The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinematic design. Achieving this requires a bilevel optimization…
The prevailing assumption holds that on-orbit servicing (OOS) of mega-constellations is infeasible due to prohibitive fuel consumption incurred by multiple rendezvous maneuvers across vast and dispersed satellite populations. To address…
This paper investigates mobility management strategies from the point of view of their need of signalling and processing resources on the backbone network and load on the air interface. A method is proposed to model the serving network and…