Related papers: GTOC 12: Results from TheAntipodes
This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…
In this paper we present a new steepest-descent type algorithm for convex optimization problems. Our algorithm pieces the unknown into sub-blocs of unknowns and considers a partial optimization over each sub-bloc. In quadratic optimization,…
This paper examines the approach taken by team gitastrophe in the CG:SHOP 2021 challenge. The challenge was to find a sequence of simultaneous moves of square robots between two given configurations that minimized either total distance…
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…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
The mid-transit times of an exoplanet may be non-periodic. The variations in the timing of the transits with respect to a single period, that is, the transit timing variations (TTVs), can sometimes be attributed to perturbations by other…
This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible…
The Traveling Thief Problem (TTP) is a multi-component optimization problem that captures the interplay between routing and packing decisions by combining the classical Traveling Salesperson Problem (TSP) and the Knapsack Problem (KP). The…
The Finite Fourier Series (FFS) Shape-Based (SB) trajectory approximation method has been used to rapidly generate initial trajectories that satisfy the dynamics, trajectory boundary conditions, and limitation on maximum thrust…
This article develops a new algorithm named TTRISK to solve high-dimensional risk-averse optimization problems governed by differential equations (ODEs and/or PDEs) under uncertainty. As an example, we focus on the so-called Conditional…
Missions to rendezvous with or capture an asteroid present significant interest both from a geophysical and safety point of view. They are key to the understanding of our solar system are as well stepping stones for interplanetary human…
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…
Given a set of astrometric observations of the same object, the problem of orbit determination is to compute the orbit and to assess its uncertainty and reliability. For the next generation surveys, with much larger number density of…
In this paper, we study the problem of escaping from saddle points in smooth nonconvex optimization problems subject to a convex set $\mathcal{C}$. We propose a generic framework that yields convergence to a second-order stationary point of…
Optimization of ship routing depends on several parameters, like ship and cargo characteristics, environmental factors, topography, international navigation rules, crew comfort etc. The complex nature of the problem leads to…
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…
The computation of the Minimum Orbital Intersection Distance (MOID) is an old, but increasingly relevant problem. Fast and precise methods for MOID computation are needed to select potentially hazardous asteroids from a large catalogue. The…
The extremely sensitive and highly nonlinear search space of interplanetary transfer trajectory design bring about big challenges on global optimization. As a representative, the current known best solution of the global trajectory…
We use the lightcurve inversion method to derive new shape models and spin states of asteroids from the sparse-in-time photometry compiled in the Lowell Photometric Database. To speed up the time-consuming process of scanning the period…
We investigate a structural decomposition for the capacitated vehicle routing problem (CVRP) based on vehicle-to-customer "assignment" and visits "sequencing" decision variables. We show that an heuristic search focused on assignment…