Related papers: Intermediate Points for Missions to Interstellar O…
An algorithm for robust initial orbit determination (IOD) under perturbed orbital dynamics is presented. By leveraging map inversion techniques defined in the algebra of Taylor polynomials, this tool returns a highly accurate solution to…
The first interstellar object, `Oumuamua, was discovered in the Solar System by Pan-STARRS in 2017, allowing for a calibration of the abundance of interstellar objects of its size and an estimation of the subset of objects trapped by the…
Vision, as an inexpensive yet information rich sensor, is commonly used for perception on autonomous mobile robots. Unfortunately, accurate vision-based perception requires a number of assumptions about the environment to hold -- some…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
In this letter, we study the resource allocation for a multiuser intelligent reflecting surface (IRS)-aided simultaneous wireless information and power transfer (SWIPT) system. Specifically, a multi-antenna base station (BS) transmits…
This work presents a Physics-Informed Indirect Method (PIIM) that propagates the dynamics of both states and co-states backward in time for trajectory optimization problems. In the case of a Time-Optimal Soft Landing Problem (TOSLP), based…
Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…
We present a modified velocity-obstacle (VO) algorithm that uses probabilistic partial observations of the environment to compute velocities and navigate a robot to a target. Our system uses commodity visual sensors, including a mono-camera…
The primal-dual interior point method (IPM) is widely regarded as the most efficient IPM variant for linear optimization. In this paper, we demonstrate that the improved stability of the pure primal IPM can allow speedups relative to a…
We study optimal Multi-robot Path Planning (MPP) on graphs, in order to improve the efficiency of multi-robot system (MRS) in the warehouse-like environment. We propose a novel algorithm, OMRPP (One-way Multi-robot Path Planning) based on…
Large-scale low-Earth-orbit satellite constellations offer a promising platform for global low-latency networking, aided by faster propagation in free space than in fiber and copper. In such systems, end-to-end latency is largely determined…
The main objective of this work is to accelerate the Maximum-Likelihood (ML) estimation procedure in radio interferometric calibration. We introduce the OS-LS and the OS-SAGE radio interferometric calibration methods, as a combination of…
The rapid expansion of advanced low-Earth orbit (LEO) satellites in large constellations is positioning space assets as key to the future, enabling global internet access and relay systems for deep space missions. A solution to the…
Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…
A crucial step in planet hunting surveys is to select the best candidates for follow up observations, given limited telescope resources. This is often performed by human `eyeballing', a time consuming and statistically awkward process. Here…
Application of traditional indirect optimization methods to optimal control problems (OCPs) with control and state path constraints is not a straightforward task. However, recent advances in regularization techniques and numerical…
The number of computing devices of the Internet of Things (IoT) is expected to grow by billions. New networking architectures are being considered to handle communications in the IoT. One of these architectures is Opportunistic Networking…
Interior point methods (IPMs) that handle nonconvex constraints such as IPOPT, KNITRO and LOQO have had enormous practical success. We consider IPMs in the setting where the objective and constraints are thrice differentiable, and have…
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 consider a relay system empowered by an unmanned aerial vehicle (UAV) that facilitates downlink information delivery while adhering to finite blocklength requirements. The setup involves a remote controller transmitting information to…