Related papers: Fast Homotopy for Spacecraft Rendezvous Trajectory…

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.…

Optimization of low-thrust trajectories that involve a larger number of orbit revolutions is considered a challenging problem. This paper describes a high-precision symplectic method and optimization techniques to solve the minimum-energy…

A deep-space exploration mission with low-thrust propulsion to rendezvous with multiple asteroids is investigated. Indirect methods, based on the optimal control theory, are implemented to optimize the fuel consumption. The application of…

Second-order Newton-type algorithms that leverage the exact Hessian or its approximation are central to solve nonlinear optimization problems. However, their applications in solving large-scale nonconvex problems are hindered by three…

We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…

The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…

Multi-rendezvous spacecraft trajectory optimization problems are notoriously difficult to solve. For this reason, the design space is usually pruned by using heuristics and past experience. As an alternative, the current research explores…

This paper presents a new fast and robust algorithm that provides fuel-optimal impulsive control input sequences that drive a linear time-variant system to a desired state at a specified time. This algorithm is applicable to a broad class…

Motion planning and control problems are embedded and essential in almost all robotics applications. These problems are often formulated as stochastic optimal control problems and solved using dynamic programming algorithms. Unfortunately,…

We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…

We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to conservative, congested equilibria.…

This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…

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…

Homotopy optimization is a traditional method to deal with a complicated optimization problem by solving a sequence of easy-to-hard surrogate subproblems. However, this method can be very sensitive to the continuation schedule design and…

The concept of path homotopy has received widely attention in the field of path planning in recent years. In this article, a homotopy invariant based on convex dissection for a two-dimensional bounded Euclidean space is developed, which can…

Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…

Successive convex programming (SCP) is a powerful class of direct optimization methods, known for its polynomial complexity and computational efficiency, making it particularly suitable for autonomous applications. Direct methods are also…

In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal…

This paper considers the problem of safe mission planning of dynamic systems operating under uncertain environments. Much of the prior work on achieving robust and safe control requires solving second-order cone programs (SOCP).…

We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…