Related papers: Intermediate Points for Missions to Interstellar O…
Initial Orbit Determination (IOD) is the classical problem of estimating the orbit of a body in space without any presumed information about the orbit. The geometric formulation of the ''angles-only'' IOD in three-dimensional space: find a…
A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…
We present a generalized version of the ITIM algorithm for the identification of interfacial molecules, which is able to treat arbitrarily shaped interfaces. The algorithm exploits the similarities between the concept of probe sphere used…
This paper deals with Interior Point Methods (IPMs) for Optimal Control Problems (OCPs) with pure state and mixed constraints. This paper establishes a complete proof of convergence of IPMs for a general class of OCPs. Convergence results…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
A prior global topological map (e.g., the OpenStreetMap, OSM) can boost the performance of autonomous mapping by a ground mobile robot. However, the prior map is usually incomplete due to lacking labeling in partial paths. To solve this…
Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package,…
We propose a novel method to enhance the accuracy of the Iterative Closest Point (ICP) algorithm by integrating altitude constraints from a barometric pressure sensor. While ICP is widely used in mobile robotics for Simultaneous…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
Leveraging the advantage of satellite and terrestrial networks, the integrated satellite terrestrial networks (ISTNs) can help to achieve seamless global access and eliminate the digital divide. However, the dense deployment and frequent…
Low Earth orbit (LEO) satellites play an essential role in intelligent Earth observation by leveraging artificial intelligence models. However, limited onboard memory and excessive inference delay prevent the practical deployment of large…
Interstellar objects such as 1I/'Oumuamua and 2I/Borisov offer a unique window into the formation and evolution of other star systems, yet the tracking and analysis of their trajectories remain limited to specialized research institutions.…
Network operators and researchers frequently use Internet measurement platforms (IMPs), such as RIPE Atlas, RIPE RIS, or RouteViews for, e.g., monitoring network performance, detecting routing events, topology discovery, or route…
This paper studies the worst case iteration complexity of an infeasible interior point method (IPM) for seconder order cone programming (SOCP), which is more convenient for warmstarting compared with feasible IPMs. The method studied bases…
A vast wealth of literature exists on the topic of rocket trajectory optimisation, particularly in the area of interplanetary trajectories due to its relevance today. Studies on optimising interstellar and intergalactic trajectories are…
Optimal Transport, a theory for optimal allocation of resources, is widely used in various fields such as astrophysics, machine learning, and imaging science. However, many applications impose elementwise constraints on the transport plan…
This paper presents a novel methodology for solving the time-optimal trajectory optimization problem for interplanetary solar-sail missions using successive convex programming. Based on the non-convex problem, different convexification…
Solving constrained nonlinear programs (NLPs) is of great importance in various domains such as power systems, robotics, and wireless communication networks. One widely used approach for addressing NLPs is the interior point method (IPM).…
To advance the field of autonomous robotics, particularly in object search tasks within unexplored environments, we introduce a novel framework centered around the Probable Object Location (POLo) score. Utilizing a 3D object probability…
Optimal data detection in multiple-input multiple-output (MIMO) communication systems with a large number of antennas at both ends of the wireless link entails prohibitive computational complexity. In order to reduce the computational…