Related papers: A Convex Formulation of the Soft-Capture Problem
We consider unconstrained randomized optimization of convex objective functions. We analyze the Random Pursuit algorithm, which iteratively computes an approximate solution to the optimization problem by repeated optimization over a…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
Reliable and efficient trajectory generation methods are a fundamental need for autonomous dynamical systems of tomorrow. The goal of this article is to provide a comprehensive tutorial of three major convex optimization-based trajectory…
We propose a method to generate robust and optimal trajectories for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft leveraging concepts from convex optimisation, tube-based nonlinear Model Predictive Control (MPC)…
We propose a general scheme for solving convex and non-convex optimization problems on manifolds. The central idea is that, by adding a multiple of the squared retraction distance to the objective function in question, we "convexify" the…
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…
This paper presents a Successive Convexification ($ \texttt{SCvx} $) algorithm to solve a class of non-convex optimal control problems with certain types of state constraints. Sources of non-convexity may include nonlinear dynamics 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…
The article is devoted to the development of algorithmic methods ensuring efficient complexity bounds for strongly convex-concave saddle point problems in the case when one of the groups of variables is high-dimensional, and the other is…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
This work presents a sequential convex program method to compute fuel-optimal collision avoidance maneuvers for long-term encounters. The low-thrust acceleration model is used to account for the control, but the method can compute…
This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Programming problem, the method generates optimal trajectories up…
Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…
Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to complete. However for…
Convex optimization is crucial in controlling legged robots, where stability and optimal control are vital. Many control problems can be formulated as convex optimization problems, with a convex cost function and constraints capturing…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
In order to solve the minimization of a nonsmooth convex function, we design an inertial second-order dynamic algorithm, which is obtained by approximating the nonsmooth function by a class of smooth functions. By studying the asymptotic…
This paper presents a robust path-planning framework for safe spacecraft autonomy under uncertainty and develops a computationally tractable formulation based on convex programming. We utilize chance-constrained control to formulate the…
A robust drift-safe rendezvous trajectory optimization tool is developed in this work, with applications to orbital rendezvous and proximity operations. The method is based on direct collocation and utilizes a sequential convex programming…
We consider the problem of minimizing a convex function over the intersection of finitely many simple sets which are easy to project onto. This is an important problem arising in various domains such as machine learning. The main difficulty…