Related papers: Variable-Horizon Guidance for Autonomous Rendezvou…

This paper studies the trajectory optimization problem for an aerial vehicle with the mission of flying between a pair of given initial and final locations. The objective is to minimize the travel time of the aerial vehicle ensuring that…

In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…

This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…

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…

Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…

This paper presents a decentralized, online planning approach for scalable maneuver planning for large constellations. While decentralized, rule-based strategies have facilitated efficient scaling, optimal decision-making algorithms for…

This paper introduces an algorithm to perform optimal reorientation of a spacecraft during a high speed flyby mission that maximizes the time a certain target is kept within the field of view of scientific instruments. The method directly…

We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…

This work develops a unified optimal control framework for a Quadrotor Biplane tailsitter UAV capable of operating seamlessly across hover, transition, and cruise flight regimes. Although the tailsitter configuration enables mechanically…

This paper investigates the use of Reinforcement Learning for the robust design of low-thrust interplanetary trajectories in presence of severe disturbances, modeled alternatively as Gaussian additive process noise, observation noise,…

We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…

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…

This paper is concerned with a finite-horizon inverse control problem, which has the goal of reconstructing, from observations, the possibly non-convex and non-stationary cost driving the actions of an agent. In this context, we present a…

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…

This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…

Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby a parameterized resolution logic that is considered trusted…

In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…

A new approach is presented for the problem of optimal impulsive rendezvous of a spacecraft in an inertial frame near a circular orbit in a Newtonian gravitational field. The total characteristic velocity to be minimized is replaced by a…

Future spacecraft operations require autonomy that can interpret high-level mission intent while preserving safety. However, existing trajectory optimization still relies heavily on expert-crafted formulations and does not support…

A method is presented to solve a stochastic, nonlinear optimal control problem representative of spacecraft trajectory design under uncertainty. The problem is reformulated as a chance constrained nonlinear program, or what is known as a…