Related papers: Team theAntipodes: Solution Methodology for GTOC11

MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…

We consider multi-agent transport task problems where, e.g. in a factory setting, items have to be delivered from a given start to a goal pose while the delivering robots need to avoid collisions with each other on the floor. We introduce a…

We propose a real-time decision framework for multimodal freight dispatch through a system of hierarchical hubs, using a probabilistic model for transit times. Instead of assigning a fixed time to each transit, we advocate using historical…

The design of transfers to periodic orbits in the Earth-Moon system has regained prominence with NASA's Artemis and CNSA's Chang'e programs. This work addresses the problem of linking ballistic capture trajectories - exploiting multi-body…

There hardly exists a general solver that is efficient for scheduling problems due to their diversity and complexity. In this study, we develop a two-stage framework, in which reinforcement learning (RL) and traditional operations research…

Generative Design (GD) combines artificial intelligence (AI), physics-based modeling, and multi-objective optimization to autonomously explore and refine engineering designs. Despite its promise in aerospace, automotive, and other…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…

Aims. With the purpose of determining the orbital parameters of exoplanetary systems from observational data, we have developed a software, named TRADES (TRAnsits and Dynamics of Exoplanetary Systems), to simultaneously fit observed radial…

In recent years, the retrieval of entire asteroids has received significant attention, with many approaches leveraging the invariant manifolds of the Circular-Restricted Three-body Problem to capture an asteroid into a periodic orbit about…

In this study, a novel coordinative scheduling optimization approach is proposed to enhance port efficiency by reducing average wait time and turnaround time. The proposed approach consists of enhanced particle swarm optimization (ePSO) as…

We present a batch trajectory optimizer that can simultaneously solve hundreds of different instances of the problem in real-time. We consider holonomic robots but relax the assumption of circular base footprint. Our main algorithmic…

Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One reason is that second-order optimality requires calculating…

We present efficient implementations of atom reconfiguration algorithms for both CPUs and GPUs, along with a batching routine to merge displacement operations for parallel execution. Leveraging graph-theoretic methods, our approach derives…

This paper develops a class of high-order conservative schemes for contaminant transport with equilibrium adsorption, based on the Integral Method with Variational Limit on block-centered grids. By incorporating four parameters, the scheme…

Many approaches for addressing Global Optimization problems typically rely on relaxations of nonlinear constraints over specific mathematical primitives. This is restricting in applications with constraints that are black-box, implicit or…

We consider a new type of asymmetric rendezvous search problem in which Agent II needs to give Agent I a `gift' which can be in the form of information or material. The gift can either be transfered upon meeting, as in traditional…

Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such…

The optimal transport (OT) problem can be reduced to a linear programming (LP) problem through discretization. In this paper, we introduced the random block coordinate descent (RBCD) methods to directly solve this LP problem. Our approach…

In this paper the preliminary design of multiple gravity-assist trajectories is formulated as a global optimization problem. An analysis of the structure of the solution space reveals a strong multimodality, which is strictly dependent on…

Inspired by scenarios where the strategic network design and defense or immunisation are of the central importance, Goyal et al. [3] defined a new Network Formation Game with Attack and Immunisation. The authors showed that despite the…