Related papers: Simplified Optimization Model for Low-Thrust Pertu…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
We present a general survey of heliocentric LISA orbits, hoping it might help in the exercise of rescoping the mission. We try to semi-analytically optimize the orbital parameters in order to minimize the disturbances coming from the…
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…
Missions to rendezvous with or capture an asteroid present significant interest both from a geophysical and safety point of view. They are key to the understanding of our solar system are as well stepping stones for interplanetary human…
Recent research has emphasized the benefits of accurately reconstructing the initial Lagrangian positions of biased tracers from their positions at a later time, to gain cosmological information. A weighted semi-discrete optimal transport…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
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…
Recent low-thrust space missions have highlighted the importance of designing trajectories that are robust against uncertainties. In its complete form, this process is formulated as a nonlinear constrained stochastic optimal control…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the points in a given…
This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible…
Bayesian estimation with an explicit transitional prior is required for a tracking algorithm to be embedded in most multi-target tracking frameworks. This paper describes a novel approach capable of tracking maneuvering spacecraft with an…
The proposal of increasingly complex and innovative space endeavours poses growing demands for mission designers. In order to meet the established requirements and constraints while maintaining a low fuel cost, the use of low-energy…
Entropic optimal transport (OT) and the Sinkhorn algorithm have made it practical for machine learning practitioners to perform the fundamental task of calculating transport distance between statistical distributions. In this work, we focus…
Low-energy transfers are advantageous for lunar exploration missions due to low fuel consumption and extended launch periods. This paper is devoted to the classification of interior transit orbits and their application on low-energy…
In this work, we investigate trajectories that require thrust to maintain periodic structure in the circular restricted three-body problem (CR3BP). We produce bounds in position and velocity space for the energy-constrained reachable set of…
This paper studies energy-efficient unmanned aerial vehicle (UAV)-enabled wireless communications, where the UAV acts as a flying base station (BS) to serve the ground users (GUs) within some predetermined latency constraints, e.g.,…
Optimal transport (OT) finds a least cost transport plan between two probability distributions using a cost matrix defined on pairs of points. Unlike standard OT, which infers unstructured pointwise mappings, low-rank optimal transport…