Related papers: Intermediate Points for Missions to Interstellar O…

Discrete Optimal Transport problems give rise to very large linear programs (LP) with a particular structure of the constraint matrix. In this paper we present a hybrid algorithm that mixes an interior point method (IPM) and column…

The Internet of Drones (IoD) is a networking architecture that stems from the interplay between Unmanned Aerial Vehicles (UAVs) and wireless communication technologies. Networked drones can unleash disruptive scenarios in many application…

The recently discovered first high velocity hyperbolic objects passing through the Solar System, 1I/'Oumuamua and 2I/Borisov, have raised the question about near term missions to Interstellar Objects. In situ spacecraft exploration of these…

The Local Interstellar Medium (LISM) is a unique environment that presents an opportunity to study general interstellar phenomena in great detail and in three dimensions. In particular, high resolution optical and ultraviolet spectroscopy…

This paper shows how to find lower bounds on, and sometimes solve globally, a large class of nonlinear optimal control problems with impulsive controls using semi-definite programming (SDP). This is done by relaxing an optimal control…

Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or differential dynamic programming (DDP), are often limited by…

Several algorithms are available in the literature for finding the entire set of Pareto-optimal solutions in MultiObjective Linear Programming (MOLP). However, it has not been proposed so far an interior point algorithm that finds all…

SAMP is a messaging protocol that enables astronomy software tools to interoperate and communicate. IVOA members have recognised that building a monolithic tool that attempts to fulfil all the requirements of all users is impractical, and…

Capture of interstellar objects (ISOs) into the Solar system is dominated by ISOs with asymptotic incoming speeds $v_\infty<4\,$km\,s$^{-1}$. The capture rate is proportional to the ISO phase-space density in the Solar vicinity and does not…

A novel framework of the unmanned aerial vehicle (UAV)-mounted active simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) communications with the non-orthogonal multiple access (NOMA) is proposed for…

This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…

Most real-world optimization problems have multiple objectives. A system designer needs to find a policy that trades off these objectives to reach a desired operating point. This problem has been studied extensively in the setting of known…

Interior point methods (IPMs) are a common approach for solving linear programs (LPs) with strong theoretical guarantees and solid empirical performance. The time complexity of these methods is dominated by the cost of solving a linear…

We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into small sub-problems, leading to a low iteration cost and…

Solving partial differential equations (PDEs) by learning the solution operators has emerged as an attractive alternative to traditional numerical methods. However, implementing such architectures presents two main challenges: flexibility…

Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs…

The Internet of Mirrors (IoM) is an emerging IoT ecosystem of interconnected smart mirrors designed to deliver personalised services across a three-tier node hierarchy spanning consumer, professional, and hub nodes. Determining where…

This paper presents an online initialization method for bootstrapping the optimization-based monocular visual-inertial odometry (VIO). The method can online calibrate the relative transformation (spatial) and time offsets (temporal) among…

In this work, the authors address the Optimal Transport (OT) problem on graphs using a proximal stabilized Interior Point Method (IPM). In particular, strongly leveraging on the induced primal-dual regularization, the authors propose to…

We develop a new `subspace layered least squares' interior point method (IPM) for solving linear programs. Applied to an $n$-variable linear program in standard form, the iteration complexity of our IPM is up to an $O(n^{1.5} \log n)$…