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The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
Electromagnetic suspension system (EMS) is mostly used in the field of high-speed vehicle. In this paper, a space exploring vehicle quarter electromagnetic suspension system is modelled, designed and simulated using linear quadratic optimal…
Gaussian mixtures are widely used for approximating density functions in various applications such as density estimation, belief propagation, and Bayesian filtering. These applications often utilize Gaussian mixtures as initial…
Reconfigurable Intelligent Surface (RIS) technology has gained significant attention due to its ability to enhance the performance of wireless communication systems. The main advantage of RIS is that it can be strategically placed in the…
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…
gamma ray altitude control system is an important equipment for deep space exploration and sample return mission, its main purpose is a low altitude measurement of the spacecraft based on Compton Effect at the moment when it lands on…
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Multi-sensor fusion is crucial for improving the performance and robustness of end-to-end autonomous driving systems. Existing methods predominantly adopt either attention-based flatten fusion or bird's eye view fusion through geometric…
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possible modification of suitable joint-space trajectories, since…
This paper develops a Bayesian optimal experimental design for robot kinematic calibration on ${\mathbb{S}^3 \!\times\! \mathbb{R}^3}$. Our method builds upon a Gaussian process approach that incorporates a geometry-aware kernel based on…
In this article, we are interested in optimal aircraft trajectories in climbing phase. We consider the cost index criterion which is a convex combination of the time-to-climb and the fuel consumption. We assume that the thrust is constant…
Quadrotor unmanned aerial vehicles have a limited quantity of embedded energy. To preserve and guaranty the success of the UAV mission, we should manage energy consumption during the mission. In this study we introduce an optimization…
In this paper, we consider coordinated control of feeder vehicles for first and last mode transportation. The model is macroscopic with volumes of demands and supplies along with flows of vehicles. We propose a one-shot problem for…
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…
We adopt a geometric approach to describe the performance of adiabatic quantum machines, operating under slow time-dependent driving and in contact to two or more reservoirs with a temperature bias during all the cycle. We show that the…
In this paper, we study the trajectory and resource allocation design for downlink energy-efficient secure unmanned aerial vehicle (UAV) communication systems, where an information UAV assisted by a multi-antenna jammer UAV serves multiple…