Related papers: Simplified Optimization Model for Low-Thrust Pertu…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
In this paper, we present a bi-level optimal control framework for designing low-thrust spacecraft trajectories with robustness against missed-thrust-events. The upper-level (UL) problem generates a nominal trajectory assuming full control…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
This paper develops a robust optimization based method to design orbits on which the sensory perception of the desired physical quantities are maximized. It also demonstrates how to incorporate various constraints imposed by many spacecraft…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…
This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do…
The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…
This paper investigates the joint optimization of trajectory, user scheduling, and time-slot duration in unmanned aerial vehicle (UAV)-assisted wireless communication systems under minimum expected spectral efficiency (SE) constraints.…
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with…
In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajectory of its joints. Each joint has limits in the ranges of…
We study the existing algorithms that solve the multidimensional martingale optimal transport. Then we provide a new algorithm based on entropic regularization and Newton's method. Then we provide theoretical convergence rate results and we…
Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges,…
In this paper, Particle Swarm Optimization with energy-to-fuel continuation is proposed for initializing the co-state variables for low-thrust minimum-fuel trajectory optimization problems in the circular restricted three-body problem.…
This paper proposes a two-phase framework to solve an optimal multi-target Lambert rendezvous problem. The first phase solves a series of single-target rendezvous problems for all departure-arrival object pairs to generate the elementary…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
Consider the spatial restricted three-body problem, as a model for the motion of a spacecraft relative to the Sun-Earth system. We focus on the dynamics near the equilibrium point $L_1$, located between the Sun and the Earth. We show that…
A bi-level optimal control framework is introduced to solve the low-thrust re-phasing problem on quasi-periodic invariant tori in multi-body environments where deviations away from the torus during maneuver are considered unsafe or…
This paper introduces an algorithm to perform optimal reorientation of a spacecraft during a high speed flyby mission that maximizes the time a certain target is kept within the field of view of scientific instruments. The method directly…
We propose a reachability approach for infinite and finite horizon multi-objective optimization problems for low-thrust spacecraft trajectory design. The main advantage of the proposed method is that the Pareto front can be efficiently…