Related papers: Analytical Shaping Method for Low-Thrust Rendezvou…
Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…
Flow-based methods for sampling and generative modeling use continuous-time dynamical systems to represent a {transport map} that pushes forward a source measure to a target measure. The introduction of a time axis provides considerable…
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…
Aims. We investigate a method to increase the efficiency of a targeted exoplanet search with the transit technique by preselecting a subset of candidates from large catalogs of stars. Assuming spin-orbit alignment, this can be done by…
We propose a sampling-based trajectory optimization methodology for constrained problems. We extend recent works on stochastic search to deal with box control constraints,as well as nonlinear state constraints for discrete dynamical…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Including terrain in atmospheric models gives rise to mesh distortions near the lower boundary that can degrade accuracy and challenge the stability of transport schemes. Multidimensional transport schemes avoid splitting errors on…
This note aims at providing a concise and self-contained document that describes a clear and easy-to-understand method, that could be useful for a reader that is approaching the linear-impulsive rendezvous topic for the first time, but that…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…
Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. To address this challenge, this paper proposes a formation planning method guided by Deformable…
While dealing with matching shapes to their parts, we often apply a tool known as functional maps. The idea is to translate the shape matching problem into "convenient" spaces by which matching is performed algebraically by solving a least…
In asteroid rendezvous missions, the dynamical environment near the asteroid's surface should be made clear prior to the mission launch. However, most of the asteroids have irregular shapes, which lower the efficiency of calculating their…
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory.…
In this paper, we present a nonlinear least-squares fitting algorithm using B-splines with free knots. Since its performance strongly depends on the initial estimation of the free parameters (i.e. the knots), we also propose a fast and…
Neural Radiance Fields and Gaussian Splatting have recently transformed computer vision by enabling photo-realistic representations of complex scenes. However, they have seen limited application in real-world robotics tasks such as…
Low-thrust electric propulsion missions are often designed under simplifying assumptions such as constant thrust or fixed specific impulse, neglecting the strong coupling between trajectory dynamics, spacecraft power availability, and…
We present a numerical method to efficiently solve optimization problems governed by large-scale nonlinear systems of equations, including discretized partial differential equations, using projection-based reduced-order models accelerated…
Computing the envelope of deforming planar domains is a significant and challenging problem with a wide range of potential applications. We approximate the envelope using circular arc splines, curves that balance geometric flexibility and…
By sending one or more telescopes into space, Space-VLBI (SVLBI) is able to achieve even higher angular resolution and is therefore the trend of the VLBI technique. For SVLBI program, the design of satellite orbits plays an important role…