Related papers: Advances in Trajectory Optimization for Space Vehi…
Advances in hardware technology have enabled more integration of sophisticated software, triggering progress in the development and employment of Unmanned Vehicles (UVs), and mitigating restraints for onboard intelligence. As a result, UVs…
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…
Equipping a spacecraft with multiple solar-powered electric engines (of the same or different types) compounds the task of optimal trajectory design due to presence of both real-valued inputs (power input to each engine in addition to the…
Complex engineering problems can be modelled as optimisation problems. For instance, optimising engines, materials, components, structure, aerodynamics, navigation, control, logistics, and planning is essential in aerospace. Metaheuristics…
Optimal mass transport, also known as the earth mover's problem, is an optimization problem with important applications in various disciplines, including economics, probability theory, fluid dynamics, cosmology and geophysics to cite a few.…
Spacecraft and drones aimed at exploring our solar system are designed to operate in conditions where the smart use of onboard resources is vital to the success or failure of the mission. Sensorimotor actions are thus often derived from…
We propose enhancing trajectory optimization methods through the incorporation of two key ideas: variable-grasp pose sampling and trajectory commitment. Our iterative approach samples multiple grasp poses, increasing the likelihood of…
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,…
Recent low-thrust space missions have highlighted the importance of designing trajectories that are robust against uncertainties. In its complete form, this process is formulated as a nonlinear constrained stochastic optimal control…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with…
Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results;…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…
The performance optimization for a combined ascent-entry mission subject to constraints on heating rate and heating load is studied. The ascent vehicle is modeled as a three-stage rocket that places the vehicle onto a suborbital…
Bandit convex optimisation is a fundamental framework for studying zeroth-order convex optimisation. This book covers the many tools used for this problem, including cutting plane methods, interior point methods, continuous exponential…
Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…
This paper proposes a set of technological solutions to transform existing transport systems into more intelligent, interactive systems by utilizing optimization and control methods that can be implemented in the near future. This will…
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…
Vehicle control is one of the most critical challenges in autonomous vehicles (AVs) and connected and automated vehicles (CAVs), and it is paramount in vehicle safety, passenger comfort, transportation efficiency, and energy saving. This…