Related papers: Optimal Trajectories for Propellant-Free Rendezvou…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees -…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
Deterministically solving charged particle transport problems at a sufficient spatial and angular resolution is often prohibitively expensive, especially due to their highly forward peaked scattering. We propose a model order reduction…
Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impact. One way of doing so is by using information about the…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
The design of mission scenarios for the flyby investigation of nearby star systems by probes launched using directed energy is addressed. Multiple probes are launched with a fixed launch infrastructure, and download of scientific data…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
The goal of the present work is to study optimal transport on null hypersurfaces inside Lorentzian manifolds. The challenge here is that optimal transport along a null hypersurface is completely degenerate, as the cost takes only the two…
This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…
This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…
A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…
Gravity-Assisted maneuvers have been used as a technique to reduce fuel consumption in deep space missions for several decades now. It opened the doors of the exterior solar system. The literature shows those results, as well as new…
This work presents a model predictive controller (MPC) that is able to handle linear time-varying (LTV) plants with PWM control. The MPC is based on a planner that employs a PAM or impulsive approximation as a hot-start and then uses…
Cooperative and Adaptive Cruise Control (CACC) is widely focused to enhance driving fuel-efficiency by maintaining a close following gap. The ecology of CACC could be further enhanced by adapting to the rolling terrain. However, current…
We address the persistent monitoring problem in two-dimensional mission spaces where the objective is to control the trajectories of multiple cooperating agents to minimize an uncertainty metric. In a one-dimensional mission space, we have…
This paper develops a Time Shift Governor (TSG)-based control scheme to enforce constraints during rendezvous and docking (RD) missions in the setting of the Two-Body problem. As an add-on scheme to the nominal closed-loop system, the TSG…
Battery-hybrid power source architectures can reduce fuel consumption and emissions for ships with diverse operation profiles. However, conventional control strategies may fail to improve performance if the future operation profile is…
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear…