Related papers: Variable-Horizon Guidance for Autonomous Rendezvou…
In this paper, a model predictive control (MPC) framework is employed to realize autonomous rendezvous and docking (AR&D) with a tumbling target, using the piecewise affine (PWA) model of the 3-D line-of-sight (LOS) dynamics and Euler…
Preliminary spacecraft trajectory optimization is a parameter dependent global search problem that aims to provide a set of solutions that are of high quality and diverse. In the case of numerical solution, it is dependent on the original…
Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to complete. However for…
This paper introduces a first-order method for solving optimal powered descent guidance (PDG) problems, that directly handles the nonconvex constraints associated with the maximum and minimum thrust bounds with varying mass and the pointing…
Spacecraft operations are influenced by uncertainties such as dynamics modeling, navigation, and maneuver execution errors. Although mission design has traditionally incorporated heuristic safety margins to mitigate the effect of…
We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. The trajectory…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
We present an optimization-based approach for fuel-efficient spacecraft rendezvous to the Gateway, a space station that will be deployed on a near rectilinear halo orbit (NRHO) around the Moon. The approach: i) ensures passive safety and…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the targets to update an intensity function that represents the…
Spacecraft rendezvous enables on-orbit servicing, debris removal, and crewed docking, forming the foundation for a scalable space economy. Designing such missions requires rapid exploration of the tradespace between control cost and flight…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when adopted separately, their combination enabled by a…
This paper studies an unmanned aerial vehicle (UAV)-enabled multicasting system, where a UAV is dispatched to disseminate a common file to a number of geographically distributed ground terminals (GTs). Our objective is to design the UAV…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…
In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic…