Related papers: Variable-Horizon Guidance for Autonomous Rendezvou…
A novel robust nonlinear model predictive control strategy is proposed for systems with nonlinear dynamics and convex state and control constraints. Using a sequential convex approximation approach and a difference of convex functions…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…
In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geometry. To address this problem, we provide a risk bounded…
A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solves a multi-vehicle optimal control problem (MVOCP) that…
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…
With autonomous aerial vehicles enacting safety-critical missions, such as the Mars Science Laboratory Curiosity rover's landing on Mars, the tasks of automatically identifying and reasoning about potentially hazardous landing sites is…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
This paper investigates the infinite horizon optimal control problem (OCP) for space applications characterized by nonlinear dynamics. The proposed approach divides the problem into a finite horizon OCP with a regularized terminal cost,…
This paper presents the development and evaluation of an optimization-based autonomous trajectory planning algorithm for the asteroid reconnaissance phase of a deep-space exploration mission. The reconnaissance phase is a low-altitude flyby…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Solving optimal control problems (OCPs) of autonomous agents operating under spatial and temporal constraints fast and accurately is essential in applications ranging from eco-driving of autonomous vehicles to quadrotor navigation. However,…
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
The rapid expansion of mega-constellations in low Earth orbits has posed significant challenges to space traffic management, necessitating periodic inspections of satellites to ensure the sustainability of the space environment when…
This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…
Due to the complexity and inconstancy of the space environment, accurate mathematical models for spacecraft rendezvous are difficult to obtain, which consequently complicates the control tasks. In this paper, a linearized time-variant plant…
This paper addresses an optimal guidance problem concerning the vertical landing of a lunar lander with the objective of minimizing fuel consumption. The vertical landing imposes a final attitude constraint, which is treated as a final…