Related papers: Optimal Trajectories for Propellant-Free Rendezvou…
This study investigates the application of modern control theory to improve the precision of spacecraft orbit maneuvers in low Earth orbit under the influence of solar radiation pressure. A full order observer based feedback control…
Drone delivery is rapidly emerging as a cost-effective and energy efficient alternative for last-mile delivery. Unlike ground vehicles, a drone's energy consumption depends on its payload in addition to travel distance. This creates a…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
We present an eikonal-based approach that is capable of finding a continuous globally optimal trajectory for an aircraft in a stationary wind field. This minimizes emissions and fuel consumption. If the destination is close to a cut locus…
Flow-based methods for sampling and generative modeling use continuous-time dynamical systems to represent a {transport map} that pushes forward a source measure to a target measure. The introduction of a time axis provides considerable…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
It has been shown that using appropriate channel coding schemes in wireless environments, transmission energy can be significantly reduced by controlling the packet transmission rate. This paper seeks optimal solutions for downlink…
This paper studies a new unmanned aerial vehicle (UAV)-enabled wireless power transfer (WPT) system, where a UAV-mounted mobile energy transmitter (ET) is dispatched to deliver wireless energy to a set of on-ground energy receivers (ERs).…
This work presents an event-triggered controller for spacecraft rendezvous hovering phases. The goal is to maintain the chaser within a bounded region with respect to the target. The main assumption is that the chaser vehicle has impulsive…
Variational optimization of orbitals in time-independent density functional calculations of excited electronic states presents a significant challenge, as excited states typically correspond to saddle points on the electronic energy…
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.,…
Motivated by optimal re-balancing of a portfolio, we formalize an optimal transport problem in which the transported mass is scaled by a mass-change factor depending on the source and destination. This allows direct modeling of the creation…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
In this paper, we explore from a conceptual standpoint the possibility of using natural astrophysical sources to accelerate spacecrafts to relativistic speeds. We focus on light sails and electric sails, which are reliant on momentum…
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,…
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…
The goal of the present work is three-fold. The first goal is to set foundational results on optimal transport in Lorentzian (pre-)length spaces, including cyclical monotonicity, stability of optimal couplings and Kantorovich duality…
In this study, an interplanetary space flight mission design is established to obtain the minimum \(\Delta V\) required for a rendezvous and sample return mission from an asteroid. Given the initial (observed) conditions of an asteroid, a…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each vehicle tilts to generate the forces that…