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We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control…
In this paper, we propose an energy-efficient optimal altitude for an aerial access point (AAP), which acts as a flying base station to serve a set of ground user equipment (UE). Since the ratio of total energy consumed by the aerial…
Optimization-based methods are commonly applied in autonomous driving trajectory planners, which transform the continuous-time trajectory planning problem into a finite nonlinear program with constraints imposed at finite collocation…
This paper presents the preliminary design of the descent and landing trajectory of the ESA Argonaut lunar lander. The mission scenario and driving system constraints are presented and accounted for in the design of a fuel-optimal…
A computational method is developed for desensitized optimal guidance using adaptive Gaussian quadrature collocation. The method computes a reference trajectory that reduces the sensitivity to uncertainties in the dynamic model by…
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,…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
The problem of minimizing the transfer time between periodic orbits in the Earth-Moon elliptic restricted three-body problem using a multi-mode propulsion system is considered. By employing the true anomaly on the primary orbit as the…
Designing optimal trajectories for multi-flyby asteroid missions is scientifically critical but technically challenging due to nonlinear dynamics, intermediate constraints, and numerous local optima. This paper establishes a method that…
We present an optimal transport framework for performing regression when both the covariate and the response are probability distributions on a compact Euclidean subset $\Omega\subset\mathbb{R}^d$, where $d>1$. Extending beyond compactly…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…
Accurate positioning and fast traversal times determine the productivity in machining applications. This paper demonstrates a hierarchical contour control implementation for the increase of productivity in positioning systems. The…
Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One reason is that second-order optimality requires calculating…
Bayesian optimization methods have been successfully applied to black box optimization problems that are expensive to evaluate. In this paper, we adapt the so-called super effcient global optimization algorithm to solve more accurately…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
The minimum-fuel orbital transfer is analyzed in the case of a launcher upper stage using a constantly thrusting engine. The thrust level is assumed to be constant and its value is optimized together with the thrust direction. A closed-loop…
This paper studies the kinematic tracking control problem for aerial manipulators. Existing kinematic tracking control methods, which typically employ proportional-derivative feedback or tracking-error-based feedback strategies, may fail to…
Battery-hybrid power source architectures can reduce fuel consumption and emissions for ships with diverse operation profiles. However, conventional control strategies may fail to improve performance if the future operation profile is…
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…