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We use optimal control theory to obtain shortcuts to adiabaticity which maximize population transfer in a three-level STIRAP system, for a given finite duration of the process and specified dissipation rate at the intermediate state. We fix…
We present the Alternating Direction Method of Multipliers for Performance Boosting (ADMM-PB), an approach to design performance boosting controllers for stable or pre-stabilized nonlinear systems, while explicitly seeking input and state…
This research paper presents a novel approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography…
This paper describes a reduced-order quasi-geostrophic coupled ocean-atmosphere model that allows for an arbitrary number of atmospheric and oceanic modes to be retained in the spectral decomposition. The modularity of this new model allows…
We consider the problem of active and sequential beam tracking at mmWave frequencies and above. We focus on the dynamic scenario of a UAV to UAV communications where we formulate the problem to be equivalent to tracking an optimal…
This paper presents a novel algorithm, based on model predictive control (MPC), for the optimal guidance of a launch vehicle upper stage. The proposed strategy not only maximizes the performance of the vehicle and its robustness to external…
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…
The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…
This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…
In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…
The minimum action method (MAM) is to calculate the most probable transition path in randomly perturbed stochastic dynamics, based on the idea of action minimization in the path space. The accuracy of the numerical path between different…
Unmanned Aerial Vehicles (UAVs) have significantly enhanced fog computing by acting as both flexible computation platforms and communication mobile relays. In this paper, we consider four important and interdependent modules: attitude…
Bundle adjustment (BA) is a technique for refining sensor orientations of satellite images, while adjustment accuracy is correlated with feature matching results. Feature match-ing often contains high uncertainties in weak/repeat textures,…
This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information…
Application of traditional indirect optimization methods to optimal control problems (OCPs) with control and state path constraints is not a straightforward task. However, recent advances in regularization techniques and numerical…
The deployment of aerial base stations (ABSs) on unmanned aerial vehicles (UAVs) presents a promising solution for extending cellular connectivity to areas where terrestrial infrastructure is overloaded, damaged, or absent. A pivotal…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
Among various satellite actuators, magnetic torquers have been widely equipped for stabilization and attitude control of small satellites. Although magnetorquers are generally used with other actuators, such as momentum wheels, this paper…
Low-thrust engines for interplanetary spacecraft transfers allow cost-effective space missions with flexible launch and arrival dates. To find fuel-optimal trajectories, an optimal control problem is to be solved. Pontryagin's Maximum…
In this paper, we propose a strategy to solve endo-atmospheric launch vehicle optimal control problems using indirect methods. More specifically, we combine shooting methods with an adequate continuation algorithm, taking advantage of the…