Related papers: Fast Optimization of Impulsive Perturbed Orbit Ren…
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with…
We present a novel method to compute unstable periodic orbits (UPOs) that optimize the infinite-time average of a given quantity for polynomial ODE systems. The UPO search procedure relies on polynomial optimization to construct nonnegative…
We present a new method for generating robust guesses for unstable periodic orbits (UPOs) by post-processing turbulent data using dynamic mode decomposition (DMD). The approach relies on the identification of near-neutral, repeated…
The classical fuel-optimal two-impulse rendezvous problem between Keplerian orbits is revisited from a family-based perspective. Conventional approaches often yield isolated optimal solutions whose mutual relationships remain unclear; yet,…
The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a…
This paper proposes a two-phase framework to solve an optimal multi-target Lambert rendezvous problem. The first phase solves a series of single-target rendezvous problems for all departure-arrival object pairs to generate the elementary…
This study is aimed at answering the famous question of how the approximation errors at each iteration of Approximate Dynamic Programming (ADP) affect the quality of the final results considering the fact that errors at each iteration…
We present a method to detect the unstable periodic orbits of a multidimensional chaotic dynamical system. Our approach allows us to locate in an efficient way the unstable cycles of, in principle, arbitrary length with a high accuracy.…
A series of robust and optimal mixed methods based on two mixed formulations of the fourth-order elliptic singular perturbation problem are developed in this paper. First, a mixed method based on a second-order system is proposed without…
Partially observable Markov decision processes (POMDPs) have recently become popular among many AI researchers because they serve as a natural model for planning under uncertainty. Value iteration is a well-known algorithm for finding…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Differential Dynamic Programming (DDP) is an efficient trajectory optimization algorithm relying on second-order approximations of a system's dynamics and cost function, and has recently been applied to optimize systems with time-invariant…
This work presents a new method for generating impulsive trajectories in restricted two-body systems by leveraging Riemannian geometry. The proposed method transforms the standard trajectory optimization problem into a purely geometric one…
When an unexpected metro disruption occurs, metro managers need to reschedule timetables to avoid trains going into the disruption area, and transport passengers stranded at disruption stations as quickly as possible. This paper proposes a…
We formulate and solve a class of finite-time transport and mixing problems in the set-oriented framework. The aim is to obtain optimal discrete-time perturbations in nonlinear dynamical systems to transport a specified initial measure on…
The core of every orbit determination process is the comparison between the measured observables and their predicted values, computed using the adopted mathematical models, and the minimization, in a least square sense, of their…
A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path in the Cartesian space. In this paper, we present a…
In this paper, we address the efficient implementation of moving horizon state estimation of constrained discrete-time linear systems. We propose a novel iteration scheme which employs a proximity-based formulation of the underlying…