Related papers: Optimal Trajectories for Propellant-Free Rendezvou…

We design optimal harmonic-trap trajectories to transport cold atoms without final excitation, combining an inverse engineering techniqe based on Lewis-Riesenfeld invariants with optimal control theory. Since actual traps are not really…

Autonomous spacecraft control for mission phases such as launch, ascent, stage separation, and orbit insertion remains a critical challenge due to the need for adaptive policies that generalize across dynamically distinct regimes. While…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

Runners competing in races are looking to optimize their performance. In this paper, a runner's performance in a race, such as a marathon, is formulated as an optimal control problem where the controls are: the nutrition intake throughout…

Predictive motion planning is the key to achieve energy-efficient driving, which is one of the main benefits of automated driving. Researchers have been studying the planning of velocity trajectories, a simpler form of motion planning, for…

This paper investigates the infinite horizon optimal control problem (OCP) for space applications characterized by nonlinear dynamics. The proposed approach divides the problem into a finite horizon OCP with a regularized terminal cost,…

In this study a new approach is proposed for the generation of aircraft trajectories. The relative guidance of an aircraft, which is aimed to join in minimum time the track of a leader aircraft, is particularly considered. In a first place,…

This paper presents an analysis of optimal impact strategies to deflect potentially dangerous asteroids. To compute the increase in the minimum orbit intersection distance of the asteroid due to an impact with a spacecraft, simple…

This paper introduces a hybrid dynamical system methodology for managing impulsive control in spacecraft rendezvous and proximity operations under the Hill-Clohessy-Wiltshire model. We address the control design problem by isolating the…

A novel fast multi-impulse optimization method for long-duration perturbed orbit rendezvous is proposed. First, based on the analytically estimated impulses, the terminal rendezvous deviation with precise dynamics model can be predicted.…

Emerging applications in autonomy require control techniques that take into account uncertain environments, communication and sensing constraints, while satisfying highlevel mission specifications. Motivated by this need, we consider a…

Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…

This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing…

Transferring a physical system from an initial to a final state while minimizing energetic losses is an interdisciplinary control problem that bridges stochastic thermodynamics and optimal transport theory. Recent research typically…

We study discrete-time finite-horizon optimal control problems in probability spaces, whereby the state of the system is a probability measure. We show that, in many instances, the solution of dynamic programming in probability spaces…

We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…

We present an optimization-based approach for fuel-efficient spacecraft rendezvous to the Gateway, a space station that will be deployed on a near rectilinear halo orbit (NRHO) around the Moon. The approach: i) ensures passive safety and…

Spacecraft trajectory design is a global search problem, where previous work has revealed specific solution structures that can be captured with data-driven methods. This paper explores two global search problems in the circular restricted…

As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…

To generate reliable motion for legged robots through trajectory optimization, it is crucial to simultaneously compute the robot's path and contact sequence, as well as accurately consider the dynamics in the problem formulation. In this…