Related papers: GTOC 12: Results from TheAntipodes
Asteroid exploration has been attracting more attention in recent years. Nevertheless, we have just visited tens of asteroids while we have discovered more than one million bodies. As our current observation and knowledge should be biased,…
We study GCS-TSP, a new variant of the Traveling Salesman Problem (TSP) defined over a Graph of Convex Sets (GCS) -- a powerful representation for trajectory planning that decomposes the configuration space into convex regions connected by…
This paper presents a novel methodology for solving the time-optimal trajectory optimization problem for interplanetary solar-sail missions using successive convex programming. Based on the non-convex problem, different convexification…
Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
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)…
This paper presents a noval method that generates optimal trajectories for autonomous vehicles for in-lane driving scenarios. The method computes a trajectory using a two-phase optimization procedure. In the first phase, the optimization…
A framework is introduced for sequentially solving convex stochastic minimization problems, where the objective functions change slowly, in the sense that the distance between successive minimizers is bounded. The minimization problems are…
In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
A possible mean to stabilize the LEO debris population is to remove each year 5 heavy debris like spent satellites or launchers stages from that space region. This paper investigates the DeltaV requirement for such a Space Debris Collecting…
A novel fast multi-impulse optimization method for long-duration perturbed orbit rendezvous is proposed. First, based on the analytically estimated impulses, the terminal rendezvous deviation with precise dynamics model can be predicted.…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
We introduce a new computational technique for searching for faint moving sources in astronomical images. Starting from a maximum likelihood estimate for the probability of the detection of a source within a series of images, we develop a…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
Multi-rendezvous spacecraft trajectory optimization problems are notoriously difficult to solve. For this reason, the design space is usually pruned by using heuristics and past experience. As an alternative, the current research explores…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
This paper introduces an algorithm to perform optimal reorientation of a spacecraft during a high speed flyby mission that maximizes the time a certain target is kept within the field of view of scientific instruments. The method directly…