Related papers: GTOC 12: Results from TheAntipodes
Preliminary spacecraft trajectory optimization is a parameter dependent global search problem that aims to provide a set of solutions that are of high quality and diverse. In the case of numerical solution, it is dependent on the original…
Given a set of celestial bodies, the problem of finding an optimal sequence of swing-bys, deep space manoeuvres (DSM) and transfer arcs connecting the elements of the set is combinatorial in nature. The number of possible paths grows…
A method for the rapid estimation of transfer costs for the removal of debris in low Earth orbit is proposed. Debris objects among a population with similar inclination values are considered. The proposed approximate analysis can provide…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
Combinatorial optimization problems for clustering are known to be NP-hard. Most optimization methods are not able to find the global optimum solution for all datasets. To solve this problem, we propose a global optimal path-based…
Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility…
This study addresses optimal impulsive trajectory design within the Circular Restricted Three-Body Problem (CR3BP), presenting a global optimization-based approach to identify minimum $\Delta V$ transfers between periodic orbits, including…
Spacecraft equipped with multiple propulsion modes or systems can offer enhanced performance and mission flexibility compared with traditional configurations. Despite these benefits, the trajectory optimization of spacecraft utilizing such…
Understanding how molecules arrange on surfaces is fundamental to surface chemistry and essential for the rational design of catalytic and functional materials. In particular, the energetically most stable configuration provides valuable…
This paper addresses the problem of planning successive Space Debris Collecting missions so that they can be achieved at minimal cost by a generic vehicle. The problem mixes combinatorial optimization to select and order the debris among a…
This paper describes the heuristics used by the Shadoks team for the CG:SHOP 2021 challenge. This year's problem is to coordinate the motion of multiple robots in order to reach their targets without collisions and minimizing the makespan.…
Finding the optimal ordering of k-subsets with respect to an objective function is known to be an extremely challenging problem. In this paper we introduce a new objective for this task, rooted in the problem of star identification on…
The rapid expansion of mega-constellations in low Earth orbits has posed significant challenges to space traffic management, necessitating periodic inspections of satellites to ensure the sustainability of the space environment when…
The orienteering problem is a well-studied and fundamental problem in transportation science. In the problem, we are given a graph with prizes on the nodes and lengths on the edges, together with a budget on the overall tour length. The…
We introduce a multi-phase rocket landing guidance framework that can handle nonlinear dynamics and does not mandate any additional mixed-integer or nonconvex constraints to handle discrete temporal events/switching. To achieve this, we…
In this paper, we present a novel optimization-based framework for autonomous excavator trajectory generation under various objectives, including minimum joint displacement and minimum time. Traditional methods on excavation trajectory…
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…
We present a batch trajectory optimizer that can simultaneously solve hundreds of different instances of the problem in real-time. We consider holonomic robots but relax the assumption of circular base footprint. Our main algorithmic…