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In this work, we develop a numerically tractable trajectory optimization problem for rest-to-rest attitude transfers with CMG-driven spacecraft. First, we adapt a specialized dynamical model which avoids many of the numerical challenges…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

Quantum optimization algorithms, such as the Quantum Approximate Optimization Algorithm, are emerging as promising heuristics for solving complex combinatorial problems. To improve performance, several extensions to the standard QAOA…

Long time-duration low-thrust nonlinear optimal spacecraft trajectory global search is a computationally and time expensive problem characterized by clustering patterns in locally optimal solutions. During preliminary mission design,…

We propose a Gaussian variational inference framework for the motion planning problem. In this framework, motion planning is formulated as an optimization over the distribution of the trajectories to approximate the desired trajectory…

This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…

Solving stochastic optimal control problems with quadratic control costs can be viewed as approximating a target path space measure, e.g. via gradient-based optimization. In practice, however, this optimization is challenging in particular…

In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…

Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…

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…

Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…

This paper presents a continuous optimization approach to DCOC and its application to spacecraft high-precision attitude control. The approach computes a control input sequence that maximizes the time-before-exit by solving a nonlinear…

The dual quaternion guidance (DQG) algorithm was selected as the candidate 6-DoF powered-descent guidance algorithm for NASA's Safe and Precise Landing -- Integrated Capabilities Evolution (SPLICE) project. DQG is capable of handling…

This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing…

We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…

This paper addresses the problem of planning successive Space Debris Collecting missions so that they can be achieved at minimal cost by a generic vehicle. The problem mixes combinatorial optimization to select and order the debris among a…

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…

Low-altitude economy includes the application of unmanned aerial vehicles (UAVs) serving ground robots. This paper investigates the 3-dimensional (3D) trajectory and communication optimization for low-altitude air-ground cooperation…

Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel…

The integration of reconfigurable intelligent surfaces (RIS) and fluid antenna systems (FAS) has attracted considerable attention due to its tremendous potential in enhancing wireless communication performance. However, under fast-fading…