Related papers: Variable-Horizon Guidance for Autonomous Rendezvou…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
We implement a fully factorization-free algorithm for nonconvex, free-final-time trajectory optimization. This algorithm is based on sequential convex programming and utilizes an inverse-free, exact discretization procedure to ensure…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
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…
Simultaneous Localization and Planning (SLAP) under process and measurement uncertainties is a challenge. It involves solving a stochastic control problem modeled as a Partially Observed Markov Decision Process (POMDP) in a general…
Path planning is important for the autonomy of Unmanned Aerial Vehicle (UAV), especially for scheduling UAV delivery. However, the operating environment of UAVs is usually uncertain and dynamic. Without proper planning, collisions may…
Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges,…
The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle.…
This paper presents the preliminary design of the descent and landing trajectory of the ESA Argonaut lunar lander. The mission scenario and driving system constraints are presented and accounted for in the design of a fuel-optimal…
This paper delves into a rendezvous scenario involving a chaser and a target spacecraft, focusing on the application of Model Predictive Control (MPC) to design a controller capable of guiding the chaser toward the target. The operational…
Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
This paper studies the integrated spacecraft routing and trajectory optimization problem for satellite servicing missions involving partial en-route propellant replenishment. Unlike terrestrial routing problems, spacecraft operate in a…
We propose a differentiable optimization framework for flip-and-landing trajectory design of reusable spacecraft, exemplified by the Starship vehicle. A deep neural network surrogate, trained on high-fidelity CFD data, predicts aerodynamic…