Related papers: Collision Avoidance Maneuvers Optimization in the …
To reduce carbon emissions and minimize shipping costs, improving the fuel efficiency of ships is crucial. Various measures are taken to reduce the total fuel consumption of ships, including optimizing vessel parameters and selecting routes…
Future multi-spacecraft missions require robust autonomous trajectory optimization capabilities to ensure safe and efficient rendezvous operations. This capability hinges on solving non-convex optimal control problems in real-time, although…
Modelling and simulating mine counter measure search missions performed by autonomous vehicles equipped with a sensor capable of detecting mines at sea is a challenging endeavour. To address this, we formulated and implemented the problem…
This paper focuses on distributed learning-based control of decentralized multi-agent systems where the agents' dynamics are modeled by Gaussian Processes (GPs). Two fundamental problems are considered: the optimal design of experiment for…
A mobile manipulator often finds itself in an application where it needs to take a close-up view before performing a manipulation task. Named this as a coupled active perception and manipulation (CAPM) problem, we model the uncertainty in…
In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…
The problem under consideration is to drive a spatial vehicle to a target at a given final time while minimizing fuel consumption. This is a classical optimal control problem in a deterministic setting. However temporary stochastic failures…
The number of space objects will grow several times in a few years due to the planned launches of constellations of thousands microsatellites. It leads to a significant increase in the threat of satellite collisions. Spacecraft must…
Traffic Management in Advanced Aerial Mobility (AAM) inherits many elements of conventional Air Traffic Management (ATM), but brings new complexities and challenges of its own. One of its ways of guaranteeing separation is the use of…
In this paper, we consider the problem of multi-unmanned aerial vehicles' scheduling for cooperative jamming, where UAVs equipped with directional antennas perform collaborative jamming tasks against several targets of interest. To ensure…
In this paper we present a fast method based on successive convexification for generating fuel-optimized spacecraft rendezvous trajectories in the presence of mixed-integer constraints. A recently developed paradigm of state-triggered…
The problem of optimizing affine feedback laws that explicitly steer the mean and covariance of an uncertain system state in the presence of a Gaussian random field is considered. Spatially-dependent disturbances are successively…
We propose a Model Predictive Control (MPC) for collision avoidance between an autonomous agent and dynamic obstacles with uncertain predictions. The collision avoidance constraints are imposed by enforcing positive distance between convex…
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…
This paper introduces a landing guidance strategy for reusable launch vehicles (RLVs) using a model predictive approach based on sequential convex programming (SCP). The proposed approach devises two distinct optimal control problems…
This paper studies the problem of safe and optimal continuum deformation of a large-scale multi-agent system (MAS). We present a novel approach for MAS continuum deformation coordination that aims to achieve safe and efficient agent…
The existence of multiple irregular obstacles in the environment introduces nonconvex constraints into the optimization for motion planning, which makes the optimal control problem hard to handle. One efficient approach to address this…
During recent years, unmanned surface vehicles are extensively utilised in a variety of maritime applications such as the exploration of unknown areas, autonomous transportation, offshore patrol and others. In such maritime applications,…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…