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Consolidation of loose packages into transport units is a fundamental activity offered by logistics service-providers. Moving the transport units instead of loose packages is faster (with one movement only, multiple packages are loaded…
This survey article deals with applications of optimal control to aerospace problems with a focus on modern geometric optimal control tools and numerical continuation techniques. Geometric optimal control is a theory combining optimal…
In this paper, we develop a unified framework for studying constrained robust optimal control problems with adjustable uncertainty sets. In contrast to standard constrained robust optimal control problems with known uncertainty sets, we…
Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility…
We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
Coverage motion planning is essential to a wide range of robotic tasks. Unlike conventional motion planning problems, which reason over temporal sequences of states, coverage motion planning requires reasoning over the spatial distribution…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Low-thrust trajectory design relies heavily on repeated evaluations of fuel consumption and transfer feasibility, which require expensive optimal control solutions. In this work, we show these quantities can be accurately approximated by…
Recent research progress has confirmed that using advanced controls can result in massive increases in energy capture for marine hydrokinetic (MHK) energy systems, including ocean current turbines (OCTs) and wave energy converters (WECs);…
Long time-duration low-thrust nonlinear optimal spacecraft trajectory global search is a computationally and time expensive problem characterized by clustering patterns in locally optimal solutions. During preliminary mission design,…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
Finding the optimal embedding of networks into low-dimensional hyperbolic spaces is a challenge that received considerable interest in recent years, with several different approaches proposed in the literature. In general, these methods…
The recent growing trend to develop large-scale satellite constellations (i.e., mega-constellation) with low-cost small satellites has brought the need for an efficient and scalable maintenance strategy decision plan. Traditional spare…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings…
The design of interplanetary trajectories often involves a preliminary search for options later refined/assembled into one final trajectory. It is this broad search that, often being intractable, inspires the international event called…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
This paper presents a multiscale approach to efficiently compute approximate optimal transport plans between point sets. It is particularly well-suited for point sets that are in high-dimensions, but are close to being intrinsically…